Surgical equipment positioning method and system

Abstract

The invention discloses a surgical equipment positioning method and system, and the method comprises the steps: determining an operation range of a surgical area and an initial motion range of the tail end of a mechanical arm through the position information of a first marker and a second marker, and calculating a recommended movement path of a mechanical arm trolley needing to move in a state that the initial motion range envelops the operation range; the mechanical arm trolley is controlled to move to the target position; and according to the target position, the final movement range of the tail end of the mechanical arm after the mechanical arm trolley moves is determined, based on the position relation between the final movement range and the view field range of the navigation equipment, the target pose of the navigation equipment is determined, the navigation equipment is controlled to move to the target pose, and finally placement of the mechanical arm trolley and the navigation equipment is achieved. The scheme does not need to excessively depend on experience of doctors, multiple tests and step-by-step adjustment are not needed in the placing process, and placing is in place in one step. The problem that the operation cannot be normally carried out due to position limitation of the mechanical arm or position identification cannot be carried out due to view deviation of navigation equipment during the operation is reduced.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and specifically to a method and system for positioning surgical equipment. Background Art

[0002] In robot-assisted orthopedic surgery, navigation equipment assists the surgical system and doctors in performing surgical operations by obtaining the locations of markers or landmarks in the surgical space. The robotic arm trolley is equipped with a robotic arm to provide assistance to doctors in operating surgical tools.

[0003] In the operating room, the range of motion of the robotic arm and the recognizable range of the navigation equipment are limited. To ensure that the end of the robotic arm carried by the robotic arm trolley can carry surgical tools within the predetermined range for surgery, and that the navigation equipment can recognize the position of surgical tools and the position of landmarks on the patient during surgery, the positioning of the navigation equipment and the robotic arm equipment in the operating room is extremely important. However, the placement of equipment before surgery currently relies mainly on experience, and the placement process requires experimentation and gradual adjustment. The placement efficiency is low and it is difficult to achieve it in one step. In addition, inappropriate positioning may also cause the robotic arm to be unable to perform surgery normally due to position limitations or the navigation equipment's field of view to be offset and unable to identify the position, resulting in interruption of the surgery and affecting the normal progress of the surgery. Summary of the Invention

[0004] The present disclosure provides a surgical equipment positioning method and a surgical system, which solve the problems in the prior art of relying on experience for the placement of surgical equipment, low placement efficiency and easy misplacement.

[0005] The first aspect of the present disclosure provides a method for positioning surgical equipment, comprising: obtaining position information of a first marker in the surgical area and position information of a second marker on a robotic arm trolley, determining the operating range of the surgical area according to the position information of the first marker, determining the initial motion range of the end of the robotic arm according to the position information of the second marker, calculating a recommended movement path that the robotic arm trolley needs to move in a state where the initial motion range envelopes the operating range, and controlling the robotic arm trolley to move to a target position based on the recommended movement path information; determining a final motion range of the end of the robotic arm after the robotic arm trolley moves according to the target position, and determining a target posture of the navigation device based on a positional relationship between the final motion range and the field of view of the navigation device, and controlling the navigation device to move to the target posture.

[0006] Based on the foregoing embodiment, in a second optional implementation, there are multiple first markers, and determining the operating range of the surgical area according to the position information of the first markers includes: using the line connecting the two farthest first markers as the baseline to determine the cubic space as the operating range.

[0007] Based on the foregoing embodiment, in a second optional implementation manner, determining the cubic space includes:

[0008] Extend the baseline along both ends, with both ends of the extended baseline serving as the first endpoints;

[0009] Taking the two first endpoints as starting points, respectively, extending in the positive and negative directions of the horizontal direction to obtain the second endpoints;

[0010] The second endpoint is used as a starting point to extend in the forward and reverse directions along the vertical direction to obtain the third endpoint. The space between the third endpoints constitutes a cubic space.

[0011] Based on the aforementioned embodiment, in a third optional implementation, calculating the recommended movement path that the robotic arm trolley needs to move in the initial motion range envelope operation range state includes:

[0012] Determine first position information of the center point of the cube space;

[0013] Determine the intersection contour of the horizontal plane where the center point is located and the boundary of the initial motion range, and determine second position information of the center point of the intersection contour;

[0014] A first path for the center point of the intersection contour to move to the center point of the cube space is determined according to the first position information and the second position information, and a recommended path for the robot arm trolley to move is determined according to the first path.

[0015] Based on the aforementioned embodiment, in a fourth optional implementation, the two ends of the robotic arm are a base and an end, the second marker has a predetermined positional relationship with the base of the robotic arm, and determining the initial motion range of the end of the robotic arm according to the position information of the second marker includes: determining the initial motion range based on the position information of the second marker, the predetermined positional relationship, and the movable range of the end of the robotic arm relative to the base of the robotic arm.

[0016] Based on the foregoing embodiment, in a fifth optional implementation manner, determining the target posture of the navigation device based on the positional relationship between the final motion range and the field of view of the navigation device includes:

[0017] Establishing a virtual coordinate system, and establishing a first spatial model of the final motion range and a second spatial model of the visual field range in the virtual coordinate system;

[0018] Calculate a first intersection of the first spatial model and the second spatial model;

[0019] It is determined whether the first intersection is smaller than the first spatial model; if so, the target position of the navigation device is calculated; otherwise, the current position of the navigation device is determined to be the target position.

[0020] Based on the foregoing embodiment, in a sixth optional implementation manner, calculating the target position of the navigation device when the first intersection is smaller than the first spatial model includes:

[0021] determining the center of the first spatial model and the axis of the second spatial model;

[0022] determining an angle by which the axis passes through the center and determining a target angle for the navigation device based on the angle;

[0023] Calculate the second intersection of the first spatial model and the second spatial model after the axis adjustment;

[0024] It is determined whether the second intersection is smaller than the first spatial model. If so, the target position of the navigation device is calculated; otherwise, the current position of the navigation device is determined to be the target position.

[0025] Based on the foregoing embodiment, in a seventh optional implementation manner, when the second intersection is smaller than the first spatial model, calculating the target position of the navigation device includes:

[0026] The second spatial model is moved unit distances along the axis of the second spatial model until the second intersection is equal to the first spatial model, and the target position of the navigation device is determined based on the number of unit distances moved, wherein the direction of movement is the direction in which the second spatial model moves away from the first spatial model on the axis.

[0027] A second aspect of the present disclosure provides a surgical equipment positioning system, characterized by comprising:

[0028] An acquisition module is used to acquire position information of a first marker in the operating area and position information of a second marker on the robotic arm trolley;

[0029] a first determining module, the first determining module being configured to determine an operating range of the surgical area based on the position information of the first marker, determine an initial motion range of the end of the robotic arm based on the position information of the second marker, calculate a recommended movement path that the robotic arm trolley needs to move when the initial motion range envelops the operating range, and control the robotic arm trolley to move to a target position based on the recommended movement path information;

[0030] The second determination module is used to determine the final motion range of the end of the robotic arm after the robotic arm trolley moves according to the target position, and based on the positional relationship between the final motion range and the field of view of the navigation device, determine the target posture of the navigation device and control the navigation device to move to the target posture.

[0031] A third aspect of the present disclosure provides a surgical system, comprising:

[0032] A robotic arm trolley is provided with a robotic arm, the end of which is used to carry surgical tools;

[0033] Navigation systems, including navigation equipment, are used to determine the positions of a patient's legs and surgical tools during surgery to guide the surgery according to a predetermined surgical plan;

[0034] The control system includes the surgical equipment positioning system of the first aspect, which is used to control the positioning of the surgical system and control the robotic arm to assist surgery according to a predetermined surgical plan.

[0035] In the surgical equipment positioning method and system proposed in the present disclosure, the operating range of the surgical area and the initial motion range of the end of the robotic arm are determined respectively by the position information of the first marker and the second marker, the recommended movement path of the robotic arm trolley that needs to be moved when the initial motion range envelops the operating range is calculated, and the robotic arm trolley is controlled to move to the target position; then, the final motion range of the end of the robotic arm after the robotic arm trolley moves is determined according to the target position, and based on the positional relationship between the final motion range and the field of view of the navigation device, the target posture of the navigation device is determined and the navigation device is controlled to move to the target posture, and finally the placement of the robotic arm trolley and the navigation device is achieved. This solution does not need to rely too much on the doctor's experience, and the placement process does not require multiple trials and gradual adjustments, and the placement can be completed in one step. It reduces the problem of the robotic arm position being limited during surgery and unable to perform surgery normally, or the navigation device field of view being offset and unable to perform position identification. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a schematic diagram of a surgical equipment positioning method according to an embodiment of the present disclosure;

[0037] Figure 2 is a schematic diagram of a surgical system according to an embodiment of the present disclosure;

[0038] Figure 3 A schematic diagram of a cubic space according to an embodiment of the present disclosure;

[0039] Figure 4 The process of determining the recommended path according to the embodiment of the present disclosure is shown as follows: Figure 1 ;

[0040] Figure 5 The process of determining the recommended path according to the embodiment of the present disclosure is shown as follows: Figure 2 ;

[0041] Figure 6 Schematic diagram of the virtual coordinate system, the first space model, and the second space model according to an embodiment of the present disclosure;

[0042] Figure 7 A schematic diagram of adjusting the field of view angle of a navigation device according to an embodiment of the present disclosure;

[0043] Figure 8 This is a schematic diagram of adjusting the visual position of a navigation device according to an embodiment of the present disclosure;

[0044] Figure 9 This is a schematic diagram of the positioning of the robotic arm trolley and navigation equipment according to an embodiment of the present disclosure;

[0045] Figure 10 Schematic diagram of a surgical equipment positioning system according to an embodiment of the present disclosure.

[0046] Figure markings: 1-first marker, 2-second marker, 3-navigation device, 4-robotic arm trolley, 41-trolley part, 5-robotic arm, 6-acquisition module, 7-first determination module, 8-second determination module, 9-control system, F-operating range, H-initial motion range, L1-baseline, I-final motion range, R-field of view, E-cube space, P-section, M-intersection profile, Q-cube space center point, J-first space model, K-second space model, W-virtual coordinate system. DETAILED DESCRIPTION

[0047] The features and exemplary embodiments of various aspects of the present disclosure will be described in detail below. In order to make the purposes, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present disclosure, rather than to limit the present disclosure. For those skilled in the art, the present disclosure can be implemented without the need for some of these specific details. The following description of the embodiments is merely to provide a better understanding of the present disclosure by illustrating examples of the present disclosure.

[0048] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0049] In robot-assisted surgery, since the range of motion of the robotic arm and the recognizable range of the navigation equipment are limited, in order to ensure that the end of the robotic arm carried by the robotic arm trolley can carry surgical tools within the predetermined range for surgery, and that the navigation equipment can identify the position of the surgical tools and the position of the landmarks on the patient during surgery, the positioning of the navigation equipment and the robotic arm equipment in the surgical space is extremely important. The applicant's research found that the current placement of equipment before surgery mainly relies on experience, and the placement process requires experimentation and gradual adjustment. The placement efficiency is low and it is difficult to achieve it in one step. In addition, inappropriate positioning may also cause the robotic arm to be unable to perform surgery normally due to position limitations or the navigation equipment's field of view to be offset and unable to identify the position, resulting in interruption of the surgery and affecting the normal progress of the surgery.

[0050] Therefore, if Figure 1 As shown, the embodiment of the present disclosure provides a method for positioning a surgical device, comprising:

[0051] S100 obtains position information of a first marker in the operating area and position information of a second marker on the robotic arm trolley;

[0052] S200 determines the operating range of the surgical area based on the position information of the first marker, determines the initial motion range of the end of the robotic arm based on the position information of the second marker, calculates a recommended movement path for the robotic arm trolley when the initial motion range envelops the operating range, and controls the robotic arm trolley to move to the target position based on the recommended movement path information;

[0053] S300 determines the final motion range of the end of the robotic arm after the robotic arm trolley moves according to the target position, determines the target posture of the navigation device based on the positional relationship between the final motion range and the field of view of the navigation device, and controls the navigation device to move to the target posture.

[0054] Specifically, refer to Figure 2 In step S100, the location information of the first marker 1 and the second marker 2 can be obtained by the navigation device 3. The navigation device 3 is an infrared navigator, and the first marker 1 and the second marker 2 are tracers with infrared light reflecting marks. The infrared navigator can emit and receive infrared light information reflected by the tracers to identify the location information of the first marker 1 and the second marker 1. In some optional embodiments, the navigation device 3 can be an electromagnetic navigation device or a visual navigation device, and the corresponding first marker and the second marker are also corresponding tracers, which is not specifically limited here.

[0055] The surgical area is the area above the operating table. Because the operating table is relatively fixed within the operating room, the surgical area is therefore a relatively fixed space within the operating room. The first marker 1 can be a tracer fixed to the patient's bones, a tracer fixed to a corresponding position on the operating table, or other devices that can determine the location of the surgical area, such as a tracer mounted on a separate bracket. The second marker 2 is mounted on the robotic arm trolley.

[0056] In step S200, the required operating range F within the surgical area is determined based on the position of the first marker 1 placed on the patient's anatomy or the operating table. Operating range F is the predicted area that the surgical tools will need to reach during surgery. By planning and predicting this area, the operating space during surgery can be determined. Simultaneously, based on the position information of the second marker 2 on the robotic arm trolley 4, the position of the robotic arm trolley 4 can be determined, and based on this position, the initial motion range H of the end of the robotic arm 5 can be determined. The initial motion range of the end of the robotic arm 5 is the maximum range of motion that the robotic arm installed on the robotic arm trolley 4 can reach.

[0057] After calculating the recommended path for the initial range of motion H to encompass the operational range F, the robotic trolley 4 is then controlled to move to the target position based on this path. At this target position, the range of motion of the manipulator 5 on the robotic trolley 4 encompasses the planned operational range F within the surgical area. This allows the robotic trolley 4 to automatically position itself, ensuring that the robotic arm 5 on the robotic trolley 4 can reach any possible operating position within the surgical area and complete the relevant operation, even when the operating table and patient are relatively fixed during surgery.

[0058] In step S300, the final motion range I of the end of the manipulator arm trolley 4 at the target position in step S200 is determined, that is, the final motion range I is the extreme motion range of the manipulator arm trolley 4 at the target position. Based on the positional relationship between the final motion range I and the field of view R of the navigation device 3, the target posture that the navigation device 3 needs to adjust is determined, and the navigation device 3 is controlled to move to the target posture. In this way, the positioning of the navigation device 3 can ensure that the field of view of the navigation device 3 can always identify the position of the end of the manipulator arm 5 and the position of the surgical tool within the operating range F. The movement of the navigation device 3 can be a movement of the position within the surgical space, or an angle adjustment of the field of view R of the navigation device 3.

[0059] It is easy to understand that the operating range F of the surgical area and the initial motion range H of the end of the manipulator 5 are determined respectively through the position information of the first marker 1 and the second marker 2, and the recommended movement path of the manipulator trolley 4 that needs to be moved when the initial motion range H envelops the operating range F is calculated, and the manipulator trolley 4 is controlled to move to the target position; then, the final motion range I of the end of the manipulator 5 after the manipulator trolley 4 moves is determined according to the target position, and based on the positional relationship between the final motion range I and the field of view R of the navigation device 3, the target posture of the navigation device 3 is determined and the navigation device 3 is controlled to move to the target posture, and finally the placement of the manipulator trolley 4 and the navigation device 3 is achieved. This solution does not need to rely too much on the doctor's experience, and the placement process does not require multiple trials and gradual adjustments, and the placement can be done in one step. It reduces the problem of the manipulator position being limited during surgery and unable to perform surgery normally or the navigation device field of view being offset and unable to perform position identification.

[0060] Wherein, there are multiple first markers, and determining the operating range of the surgical area based on the position information of the first markers includes: using the line connecting the two first markers with the greatest distance as a reference line to determine a cubic space as the operating range. Specifically, determining the cubic space includes:

[0061] S210 extends the baseline along two ends, with the two ends of the extended baseline serving as first endpoints;

[0062] S211 extends the two first endpoints in the horizontal direction in the positive and negative directions respectively, and obtains the second endpoints after the extension;

[0063] S212 extends the vertical direction in a forward and reverse direction from the second endpoint as a starting point to obtain a third endpoint after extension, and the space between the third endpoints constitutes a cubic space.

[0064] Specifically, such as Figure 3 As shown, using knee replacement surgery as an example, first markers 1 are two tracers placed on the femur and tibia, respectively, to determine the positions of the femur and tibia. Since there are two first markers 1, the line connecting the two first markers serves as the baseline to define the cubic space as the operating range of the surgical area.

[0065] First, a line connecting the two first markers 1 is established as a reference line L1, with the two ends of the reference line L1 being the position A1 where the femoral tracer is located and the position A2 where the tibial tracer is located; and the reference line L1 is extended from A1 and A2 as starting points to B1 and B2 along the horizontal first direction X.

[0066] The two ends B1 and B2 of the extended baseline are first endpoints, and the baseline is extended in positive and negative directions along the horizontal second direction Y starting from B1 and B2 respectively, to obtain second endpoints C1, C2, C3, and C4 after extension.

[0067] Next, the system extends in both the forward and reverse directions of the vertical direction Z, starting from the second endpoints C1, C2, C3, and C4. Third endpoints D1, D2, D3, D4, D5, D6, D7, and D8 are obtained. These eight third endpoints form a cubic space E, which serves as the operating range F of the surgical area. It should be noted that the extension distance in these three directions is a pre-set length, which can be adjusted based on factors such as the type of surgery, the patient's leg length, and the patient's weight. For example, a taller or heavier patient may require a longer extension distance to meet surgical needs.

[0068] In some optional embodiments, the number of first markers 1 can be multiple in addition to two, such as in knee replacement surgery, in addition to the femoral tracer and the tibial tracer, there are also tools such as probes or tool registers as first markers;.

[0069] In step S200, the recommended movement path of the robot trolley to be moved in the initial movement range envelope operation range state is calculated, including:

[0070] S220 determines first position information of the center point of the cube space;

[0071] S221 determines the intersection contour of the horizontal plane where the center point is located and the boundary of the initial motion range, and determines second position information of the center point of the intersection contour;

[0072] S222 determines a first path for the center point of the intersection contour to move to the center point of the cube space according to the first position information and the second position information, and determines a recommended path for the robot arm trolley to move according to the first path.

[0073] Specifically, such as Figure 4 and Figure 5 As shown, when the initial motion range H is used to envelop the operating range F to determine the recommended path that the robotic arm trolley needs to move, the first position information of the center point Q of the cube space is first determined. The determination of the first position information can be calculated based on the endpoint coordinates of the cube space E. Then, the horizontal plane where the center point Q of the cube space is located is taken as the section P, and the intersection contour M of the section P and the boundary of the initial motion range H of the robotic arm is intercepted to determine the second position information of the center point O of the intersection contour. According to the first position information of the center point Q of the cube space and the second position information of the center point O of the intersection contour, the path that moves from the center point O of the intersection contour to the center point Q of the cube space and makes the two points coincide is determined as the first path. The recommended path that the robotic arm trolley needs to move is determined based on the first path, and the motion range of the end of the robotic arm after the movement is the final motion range I.

[0074] It is easy to understand that within the surgical area, the cubic space E (operational range F) used to represent the possible surgical range is relatively fixed. Therefore, the movement of the robotic arm trolley 4 is required to ensure that the range of motion of the robotic arm 5 can reach the required position. Moreover, during the position adjustment process of the robotic arm trolley 4, the initial range of motion H of the robotic arm 5 moves only within the horizontal range. Therefore, when determining the first path and the recommended path, only the horizontal adjustment of the initial range of motion H of the robotic arm 5 needs to be considered. That is, the movement path is calculated by the coincidence of the two center points, which reduces the complicated calculation process.

[0075] Regarding the robotic arm trolley, the two ends of the robotic arm are a base and an end respectively, and the second marker has a predetermined positional relationship with the robotic arm base. Determining the initial motion range of the robotic arm end based on the position information of the second marker 2 includes: determining the initial motion range based on the position information of the second marker, the predetermined positional relationship, and the movable range of the robotic arm end relative to the robotic arm base.

[0076] Specifically, such as Figure 1 As shown, the robotic arm trolley 4 includes a trolley portion 41 and a robotic arm 5 disposed above the trolley portion 41. The end of the robotic arm 5 connected to the trolley portion 41 is a base, and the other end is a distal end. The distal end of the robotic arm 5 is used to carry surgical tools to assist the surgeon in performing the surgical operation. For example, in a knee replacement surgery, the distal end of the robotic arm carries an electric oscillating saw, the saw blade of which assists the surgeon in bone cutting. Of course, in some optional embodiments, the surgical tools may be drill bits, milling cutters, or other tools, which are not limited here.

[0077] The second marker 2 is a tracer provided on the trolley portion 41, and is used to obtain the position information of the robotic arm trolley 4. Since the second marker 2 is fixed at a fixed position of the trolley portion 41 when in use, and the base of the robotic arm 5 is connected to the trolley portion 41 and relatively fixed, the second marker 2 and the base have a predetermined positional relationship. At the same time, the movement of the end of the robotic arm relative to the base of the robotic arm and the movable range can also be obtained through the motion feedback inside the robotic arm. Therefore, based on the position information of the second marker 2, the predetermined positional relationship between the second marker 2 and the base, and the movable range of the end of the robotic arm relative to the base of the robotic arm, the space that the end of the robotic arm can reach in the surgical space, that is, the initial motion range H, is determined.

[0078] In step S300, determining the target posture of the navigation device based on the positional relationship between the final motion range and the field of view of the navigation device includes:

[0079] S310: Establishing a virtual coordinate system, and establishing a first spatial model of the final motion range and a second spatial model of the visual field range in the virtual coordinate system;

[0080] S311 calculates a first intersection of the first space model and the second space model;

[0081] S312 determines whether the first intersection is smaller than the first space model. If so, the target position of the navigation device is calculated. Otherwise, the current position of the navigation device is determined to be the target position.

[0082] It is easy to understand that, in order to determine the target posture of the navigation device 3 based on the positional relationship between the final motion range I and the field of view R of the navigation device 3, in step S310, as shown in FIG. Figure 6 As shown, first establish a virtual coordinate system W and a first space model J and a second space model K corresponding to the final motion range I and the field of view R, respectively. The target posture of the navigation device 3 is determined with the help of the positional relationship between the two models. Specifically, as shown in the figure, in the virtual coordinate system W, the first intersection of the first space model J and the second space model K is calculated. If the first intersection is smaller than the first space model J, it means that the first space model J is not completely contained by the second space model K, and the second space model K needs to be adjusted so that it can completely contain the first space model J, that is, the field of view R of the navigation device can completely contain the final motion range I of the end of the manipulator. Similarly, if the first intersection is equal to the first space model J, it means that the first space model J is completely contained by the second space model K, and the posture of the current navigation device 3 is determined to be the target posture, that is, no adjustment is required.

[0083] Furthermore, if the first intersection is smaller than the first spatial model, calculating the target position of the navigation device includes:

[0084] S320: determining the center of the first space model and the axis of the second space model;

[0085] S321 determines the angle required to adjust the axis through the center, and determines the target angle of the navigation device based on the angle;

[0086] S322 calculates a second intersection of the first space model and the second space model after axis adjustment;

[0087] S323 determines whether the second intersection is smaller than the first spatial model. If so, the target position of the navigation device is calculated. Otherwise, the current position of the navigation device is determined to be the target position.

[0088] Specifically, such as Figure 6 The first intersection shown is smaller than the first spatial model J, that is, the first spatial model J is not completely contained by the second spatial model K. At this time, the target position of the navigation device needs to be calculated. For the specific process, refer to Figure 6 and Figure 7First, determine the center G of the first spatial model J and the axis U of the second spatial model K. Taking the center G as the reference, adjust the angle of the axis U to pass through the center G. This process ensures that the first spatial model J is roughly located in the middle of the second spatial model K. After the adjustment, the second intersection of the first spatial model J and the second spatial model K is re-determined. If the second intersection is smaller than the first spatial model J, the position of the navigation device needs to be further adjusted to meet the surgical requirements. Otherwise, it can be determined that the current position of the navigation device 3 is the target position, and no subsequent adjustment is required. It is easy to understand that when the first intersection is smaller than the first spatial model J, it is preferred to adjust the angle of the navigation device 3. In this way, the movement of the navigation device 3 can be reduced, and the surgical navigation requirements can be achieved only by adjusting the angle of the navigation device, which is convenient to operate.

[0089] When the second intersection is smaller than the first spatial model, calculating the target position of the navigation device includes: moving the second spatial model along the axis of the second spatial model by unit distances until the second intersection is equal to the first spatial model J, and determining the target position of the navigation device based on the number of unit distances moved, wherein the direction of movement is the direction in which the second spatial model moves away from the first spatial model on the axis.

[0090] Specifically, such as Figure 7-9 As shown, when the second intersection is smaller than the first spatial model J, it means that the angle adjustment of the navigation device 3 cannot realize that the second spatial model K contains the first spatial model J. Therefore, it is necessary to adjust the position of the navigation device 3. Since the field of view R of the navigation device 3 generally gradually increases along the direction of the navigation device along its axis U, it is considered to move the navigation device 3 away from the manipulator trolley 4 during adjustment, that is, move the second spatial model K along the axis U of the second spatial model K in a unit distance in a direction away from the robot trolley 4. The unit distance of each movement is preset to 10mm. Of course, in some optional implementations, the unit distance can be other values, such as 1mm, 2mm, 20mm, 50mm, 100mm, etc. Through multiple unit distance movements, until the second intersection is equal to the first spatial model. As shown Figure 8 As shown in Figure 1, at this time, the second spatial model K completely envelops the first spatial model J, that is, the field of view R of the navigation device 3 can cover the final motion range I of the end of the robotic arm, which can meet the needs of surgical navigation to the greatest extent. The position adjustment of the navigation device is calculated based on the movement path of the model and the navigation device is controlled to perform positioning. After positioning, as shown in Figure 1, Figure 9 As shown, the field of view R of the navigation device 3 can cover the final motion range I of the end of the robotic arm, and the final motion range completely covers the operating range F, meeting the surgical navigation requirements of various positions during surgery.

[0091] It should be noted that the comparison of the sizes of the spatial models or intersections in the aforementioned process is a comparison of the volumes of the spatial models or intersections or the spaces contained therein.

[0092] The present disclosure also provides a surgical equipment positioning system. Figure 10 As shown, the system includes:

[0093] An acquisition module 6 is used to acquire position information of a first marker in the operating area and position information of a second marker on the robotic arm trolley;

[0094] A first determining module 7 is configured to determine an operating range of the surgical area based on the position information of the first marker, determine an initial motion range of the end of the robotic arm based on the position information of the second marker, calculate a recommended movement path for the robotic arm trolley to move when the initial motion range envelops the operating range, and control the robotic arm trolley to move to a target position based on the recommended movement path information;

[0095] The second determination module 8 is used to determine the final motion range of the end of the robotic arm after the robotic arm trolley moves according to the target position, and based on the positional relationship between the final motion range and the field of view of the navigation device, determine the target posture of the navigation device and control the navigation device to move to the target posture.

[0096] Furthermore, the present disclosure also provides a surgical system, such as Figure 2 Shown, including:

[0097] A robotic arm trolley 4 is provided with a robotic arm, the end of which is used to carry surgical tools;

[0098] A navigation system, including a navigation device 3, is used to determine the position of the patient's leg and surgical tools during surgery to guide the surgery according to the predetermined surgical plan;

[0099] The control system 9 includes the surgical equipment positioning system of the first aspect, which is used to control the positioning of the surgical system and control the robotic arm to assist the surgery according to the predetermined surgical plan.

[0100] In summary, in the surgical equipment positioning method, positioning system and surgical system proposed in the present disclosure, the operating range of the surgical area and the initial motion range of the end of the robotic arm are respectively determined by the position information of the first marker and the second marker, the recommended movement path that the robotic arm trolley needs to move in the state where the initial motion range envelopes the operating range is calculated, and the robotic arm trolley is controlled to move to the target position; then, the final motion range of the end of the robotic arm after the robotic arm trolley moves is determined according to the target position, and based on the positional relationship between the final motion range and the field of view of the navigation device, the target posture of the navigation device is determined and the navigation device is controlled to move to the target posture, and finally the placement of the robotic arm trolley and the navigation device is achieved. This solution does not need to rely too much on the doctor's experience, and the placement process does not require multiple trials and gradual adjustments, and the placement can be completed in one step. It reduces the problem that the robotic arm position limit during surgery cannot perform the surgery normally or the field of view of the navigation device is offset and cannot perform position identification.

[0101] Although the present disclosure has been described in detail above using general descriptions and specific embodiments, it will be apparent to those skilled in the art that modifications or improvements may be made based on the present application. Therefore, such modifications or improvements, which do not depart from the spirit of the present disclosure, are within the scope of protection claimed by the present disclosure.

Claims

1. A method for positioning surgical equipment, characterized in that: include: Obtaining position information of a first marker in the operating area and position information of a second marker on the robotic arm trolley; Determine the operating range of the surgical area based on the position information of the first marker, determine the initial motion range of the end of the robotic arm based on the position information of the second marker, calculate a recommended movement path that the robotic arm trolley needs to move when the initial movement range envelops the operating range, and control the robotic arm trolley to move to a target position based on the recommended movement path information; The final motion range of the end of the robotic arm after the robotic arm trolley moves is determined according to the target position, and the target posture of the navigation device is determined based on the positional relationship between the final motion range and the field of view of the navigation device, and the navigation device is controlled to move to the target posture.

2. The surgical equipment positioning method according to claim 1, characterized in that: There are multiple first markers, and determining the operating range of the surgical area based on the position information of the first markers includes: using the line connecting the two first markers with the greatest distance as a reference line to determine a cubic space as the operating range.

3. The surgical equipment positioning method according to claim 2, characterized in that: Determining the cubic space includes: Extending the baseline along both ends, with both ends of the extended baseline serving as first endpoints; Taking the two first endpoints as starting points, respectively, extending in the positive and negative directions of the horizontal direction to obtain the second endpoints; The second endpoint is used as a starting point to extend in the forward and reverse directions along the vertical direction to obtain a third endpoint, and the space between the third endpoints constitutes the cubic space.

4. The surgical equipment positioning method according to claim 3, characterized in that: The calculation of the recommended movement path that the robotic arm trolley needs to move in the operating range state of the initial movement range envelope includes: Determining first position information of the center point of the cube space; Determine an intersection contour of a horizontal plane where the center point is located and a boundary of the initial motion range, and determine second position information of a center point of the intersection contour; A first path for moving the center point of the intersection contour to the center point of the cube space is determined based on the first position information and the second position information, and a recommended path for the robot arm trolley to move is determined based on the first path.

5. The surgical equipment positioning method according to claim 1, characterized in that: The two ends of the robotic arm are a base and an end, the second marker has a predetermined positional relationship with the base of the robotic arm, and determining the initial motion range of the end of the robotic arm based on the position information of the second marker includes: determining the initial motion range based on the position information of the second marker, the predetermined positional relationship, and the movable range of the end of the robotic arm relative to the base of the robotic arm.

6. The surgical equipment positioning method according to claim 1, characterized in that: Determining the target posture of the navigation device based on the positional relationship between the final motion range and the field of view of the navigation device includes: Establishing a virtual coordinate system, and establishing a first spatial model of the final motion range and a second spatial model of the visual field range in the virtual coordinate system; Calculating a first intersection of the first spatial model and the second spatial model; It is determined whether the first intersection is smaller than the first space model; if so, a target posture of the navigation device is calculated; otherwise, the posture of the current navigation device is determined to be the target posture.

7. The surgical equipment positioning method according to claim 6, characterized in that: Calculating the target position of the navigation device when the first intersection is smaller than the first spatial model includes: determining a center of the first space model and an axis of the second space model; determining an angle required for adjusting the axis through the center, and determining a target angle of the navigation device based on the angle; Calculating a second intersection of the first space model and the second space model after axis adjustment; It is determined whether the second intersection is smaller than the first spatial model; if so, the target position of the navigation device is calculated; otherwise, the current position of the navigation device is determined to be the target position.

8. The surgical equipment positioning method according to claim 7, characterized in that: When the second intersection is smaller than the first spatial model, calculating the target position of the navigation device includes: The second spatial model is moved unit distances along the axis of the second spatial model until the second intersection is equal to the first spatial model, and the target position of the navigation device is determined based on the number of unit distances moved, wherein the direction of the movement is the direction in which the second spatial model moves away from the first spatial model on the axis.

9. A surgical equipment positioning system, characterized in that: include: An acquisition module, configured to acquire position information of a first marker in the operating area and position information of a second marker on the robotic arm trolley; a first determining module, configured to determine an operating range of the surgical area based on the position information of the first marker, determine an initial motion range of the end of the robotic arm based on the position information of the second marker, calculate a recommended movement path for the robotic arm trolley to move when the initial motion range envelops the operating range, and control the robotic arm trolley to move to a target position based on the recommended movement path information; The second determination module is used to determine the final motion range of the end of the robotic arm after the robotic arm trolley moves according to the target position, and based on the positional relationship between the final motion range and the field of view of the navigation device, determine the target posture of the navigation device and control the navigation device to move to the target posture.

10. A surgical system, characterized in that: include: A robotic arm trolley, wherein a robotic arm is provided on the robotic arm trolley, and the end of the robotic arm is used to carry surgical tools; A navigation system, including a navigation device, wherein the navigation system is used to determine the position of a patient's leg and surgical tools during surgery to guide the surgery according to a predetermined surgical plan; The control system includes the surgical equipment positioning system as described in claim 9, which is used to control the positioning of the surgical system and control the robotic arm to assist surgery according to a predetermined surgical plan.

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