Surgical device positioning method and system

Abstract

The present disclosure discloses a surgical equipment positioning method and system, which determines the operation range of the surgical area and the initial motion range of the mechanical arm end through the position information of the first marker and the second marker respectively, calculates the recommended moving path of the mechanical arm trolley which needs to move in the state of the initial motion range enveloping the operation range, and controls the mechanical arm trolley to move to the target position; determines the final motion range of the mechanical arm end after the mechanical arm trolley moves according to the target position, determines the target pose of the navigation equipment based on the position relationship between the final motion range and the field of view range of the navigation equipment, and controls the navigation equipment to move to the target pose, finally realizes the placement of the mechanical arm trolley and the navigation equipment. The scheme does not need to rely too much on the experience of doctors, and the placement process does not need to be adjusted gradually and tested many times, and the placement is one step to the destination. The problem that the mechanical arm position limit cannot normally perform surgery or the navigation equipment field of view offset cannot perform position identification in surgery is reduced.

Description

Technical Field

[0001] This application relates to the field of medical device technology, specifically to surgical equipment placement methods and systems. Background Technology

[0002] In robot-assisted orthopedic surgery, navigation devices assist the surgical system and doctors in performing surgical operations by acquiring the positions of markers or landmarks in the surgical space. The robotic arm trolley carries a robotic arm to assist doctors in operating surgical tools.

[0003] Within the surgical space, the limited range of motion of the robotic arm and the restricted area of ​​the navigation equipment necessitate careful placement of the navigation and robotic arm devices. This is crucial to ensure that the robotic arm's end effector, mounted on the robotic arm trolley, can carry surgical tools within a predetermined range during surgery, and that the navigation equipment can accurately identify the positions of the tools and markers on the patient. However, current pre-operative device placement relies heavily on experience, requiring trial and error and gradual adjustments, resulting in low efficiency and difficulty in achieving optimal placement in one step. Furthermore, inappropriate placement can cause problems during surgery, such as the robotic arm being unable to perform the procedure due to positional limitations or the navigation equipment failing to recognize the patient's location due to a shift in its field of vision, leading to surgical interruptions and disrupting the normal progress of the operation. Summary of the Invention

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

[0005] The first aspect of this disclosure provides a method for positioning surgical equipment, comprising: acquiring 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 based on the position information of the first marker; determining the initial motion range of the robotic arm end effector based on the position information of the second marker; calculating a recommended movement path for the robotic arm trolley to move under the initial motion range envelope operating range state; controlling the robotic arm trolley to move to a target position based on the recommended movement path information; determining the final motion range of the robotic arm end effector after the robotic arm trolley moves based on the target position; and determining the target pose of the navigation device based on the 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 pose.

[0006] Based on the aforementioned implementation method, in the second optional implementation method, 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 farthest first markers as a baseline to determine the cubic space as the operating range.

[0007] Based on the aforementioned implementation methods, in the second optional implementation, determining the cube space includes:

[0008] Extend the baseline at both ends, and the two ends of the extended baseline are the first endpoints;

[0009] Starting from the two first endpoints, extend horizontally in both directions to obtain the second endpoint;

[0010] Starting from the second endpoint, extend vertically in both directions to obtain the third endpoint. The space between the third endpoints forms a cubic space.

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

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

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

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

[0015] Based on the aforementioned implementation methods, in the fourth optional implementation method, the two ends of the robotic arm are a base and an end point, the second marker has a predetermined positional relationship with the robotic arm base, and determining the initial motion range of the robotic arm end point 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 robotic arm end point relative to the robotic arm base.

[0016] Based on the aforementioned implementation methods, in the fifth optional implementation, determining the target pose of the navigation device based on the positional relationship between the final range of motion and the field of view of the navigation device includes:

[0017] Establish a virtual coordinate system, and in the virtual coordinate system, establish a first spatial model of the final motion range and a second spatial model of the field of view;

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

[0019] Determine if the first intersection is smaller than the first spatial model. If so, calculate the target pose of the navigation device; otherwise, determine the pose of the current navigation device as the target pose.

[0020] Based on the aforementioned implementation methods, in the sixth optional implementation, calculating the target position of the navigation device when the first intersection is less than the first spatial model includes:

[0021] Determine the center of the first spatial model and the axes of the second spatial model;

[0022] Determine the angle that needs to be adjusted when the axis passes through the center, and determine the target angle of the navigation device based on this angle;

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

[0024] Determine if the second intersection is smaller than the first spatial model. If so, calculate the target position of the navigation device; otherwise, determine the pose of the current navigation device as the target pose.

[0025] Based on the aforementioned implementation methods, in the seventh optional implementation, 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 one unit distance along its axis until the second intersection equals the first spatial model. 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 along its axis.

[0027] A second aspect of this disclosure provides a surgical equipment positioning system, characterized in that it includes:

[0028] The acquisition module is used to acquire the position information of the first marker in the surgical area and the position information of the second marker on the robotic arm trolley.

[0029] The first determining module is used to determine the operating range of the surgical area based on the position information of the first marker, determine the initial motion range of the robotic arm end based on the position information of the second marker, calculate the recommended movement path that the robotic arm trolley needs to move under the state of the initial motion range envelope operating range, and control the robotic arm trolley to move to the target position based on the recommended movement path information.

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

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

[0032] A robotic arm trolley, on which a robotic arm is mounted, with surgical instruments mounted at the end of the robotic arm.

[0033] A navigation system, including navigation equipment, is used to determine the position of the patient's legs and surgical instruments during surgery to guide the operation according to the predetermined surgical plan;

[0034] The control system includes, as in the first aspect, a surgical equipment positioning system for controlling the positioning of the surgical system and controlling the robotic arm to assist in the surgery according to a predetermined surgical plan.

[0035] The surgical equipment placement method and system proposed in this disclosure determine the operating range of the surgical area and the initial motion range of the robotic arm's end effector by using the position information of the first and second markers, respectively. It then calculates the recommended movement path of the robotic arm carriage within the initial motion range envelope, and controls the robotic arm carriage to move to the target position. Next, based on the target position, it determines the final motion range of the robotic arm's end effector after the carriage moves. Based on the positional relationship between the final motion range and the field of view of the navigation device, it determines the target pose of the navigation device and controls the navigation device to move to the target pose, ultimately achieving the placement of the robotic arm carriage and the navigation device. This solution does not rely excessively on the surgeon's experience, and the placement process does not require multiple trials and gradual adjustments; placement is achieved in one step. It reduces the problems of the robotic arm's position being limited during surgery, preventing normal operation, or the navigation device's field of view being offset, hindering position recognition. Attached Figure Description

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

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

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

[0039] Figure 4 This is a schematic diagram illustrating the process of determining the recommended path in an embodiment of the present disclosure. Figure 1 ;

[0040] Figure 5 This is a schematic diagram illustrating the process of determining the recommended path in an embodiment of the present disclosure. Figure 2 ;

[0041] Figure 6 This is a schematic diagram of the virtual coordinate system, the first spatial model, and the second spatial model according to an embodiment of this disclosure;

[0042] Figure 7 This is a schematic diagram illustrating the adjustment of 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 illustrating the position adjustment of the navigation device according to an embodiment of the present disclosure;

[0044] Figure 9 This is a schematic diagram of the robotic arm trolley and navigation device after being positioned according to an embodiment of this disclosure;

[0045] Figure 10 This is a schematic diagram of a surgical equipment placement system according to an embodiment of the present disclosure.

[0046] Reference numerals in the attached figures: 1-First marker, 2-Second marker, 3-Navigation device, 4-Robot arm trolley, 41-Trolley section, 5-Robot 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 section, M-Intersection profile, Q-Center point of cube space, J-First spatial model, K-Second spatial model, W-Virtual coordinate system. Detailed Implementation

[0047] The features and exemplary embodiments of various aspects of this disclosure will now be described in detail. To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description, in conjunction with the accompanying drawings and specific embodiments, will provide a further detailed description. It should be understood that the specific embodiments described herein are intended to explain this disclosure only and not to limit it. For those skilled in the art, this disclosure can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this disclosure by illustrating examples.

[0048] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0049] In robot-assisted surgery, the limited range of motion of the robotic arm and the restricted area of ​​the navigation equipment make the precise placement of the navigation and robotic arm devices within the surgical space crucial. This is because the robotic arm's end effector, mounted on the robotic arm trolley, can carry surgical tools within a predetermined range during surgery, and the navigation equipment must be able to identify the positions of the surgical tools and markers on the patient. The applicant's research has found that current pre-operative device placement relies heavily on experience, requiring trial and error and gradual adjustments, resulting in low efficiency and difficulty in achieving optimal placement in one step. Furthermore, inappropriate placement can cause problems during surgery, such as the robotic arm being unable to perform the surgery due to positional limitations or the navigation equipment's field of view shifting, leading to surgical interruptions and disrupting the normal progress of the procedure.

[0050] Therefore, as Figure 1 As shown, this disclosure provides a method for positioning surgical equipment, including:

[0051] S100 acquires the position information of the first marker in the surgical area and the position information of the 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 robotic arm end effector based on the position information of the second marker, calculates the recommended movement path that the robotic arm trolley needs to move under the state of the initial motion range envelope, and controls the robotic arm trolley to move to the target position based on the recommended movement path information.

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

[0054] For details, please refer to Figure 2 In step S100, the position information of the first marker 1 and the second marker 2 can be obtained through 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 reflection marks. The infrared navigator can emit and receive infrared light information reflected by the tracers, thereby identifying the position information of the first marker 1 and the second marker 2. In some optional embodiments, the navigation device 3 can be an electromagnetic navigation or visual navigation device, and the corresponding first marker and the second marker are also corresponding tracers; no specific limitation is made here.

[0055] The surgical area is a portion of the space on the operating table. Since the operating table is relatively fixed within the surgical space, the surgical area is also a relatively fixed space. The first marker 1 can be a tracker fixed to the patient's bones, a tracker fixed to a corresponding position on the operating table, or any other device that can pinpoint the surgical area, such as a tracker mounted on a separate support. 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 set on the patient's bones or the operating table. The operating range F is the predicted area that surgical tools need to reach or access during the 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 carriage 4, the position of the robotic arm carriage 4 can be obtained, and the initial motion range H of the end effector of the robotic arm 5 can be obtained based on this position. The initial motion range of the end effector of the robotic arm 5 is the maximum range of motion that the robotic arm set on the robotic arm carriage 4 can reach.

[0057] The recommended movement path for the robotic arm carriage 4 to move so that the initial range of motion H can encompass the operating range F is then calculated, and the robotic arm carriage 4 is controlled to move to the target position based on this path. At the target position, the range of motion of the robotic arm 5 on the robotic arm carriage 4 can encompass the planned operating range F within the surgical area. In this way, through the automatic positioning of the robotic arm carriage 4, with the operating table and patient relatively fixed during surgery, the robotic arm 5 on the target position of the robotic arm carriage 4 can reach all possible operation positions within the surgical area to complete the relevant operations.

[0058] In step S300, the final range of motion I of the robotic arm trolley 4 at the target position in step S200 is determined, that is, the final range of motion I is the limit range of motion of the robotic arm trolley 4 at the target position. Based on the positional relationship between the final range of motion I and the field of view R of the navigation device 3, the target pose that the navigation device 3 needs to adjust is determined, and the navigation device 3 is controlled to move to the target pose. 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 robotic arm 5 and the position of the surgical tools within the operating range F. The movement of the navigation device 3 can be a movement of its position within the surgical space, or an adjustment of the angle of the field of view R of the navigation device 3.

[0059] The process is straightforward: by using the positional information of the first marker 1 and the second marker 2, the operating range F of the surgical area and the initial motion range H of the robotic arm 5's end effector are determined. The recommended movement path for the robotic arm carriage 4, which is enveloped by the initial motion range H within the operating range F, is calculated, and the robotic arm carriage 4 is controlled to move to the target position. Then, based on the target position, the final motion range I of the robotic arm 5's end effector after the robotic arm carriage 4 moves is determined. Based on the positional relationship between the final motion range I and the field of view R of the navigation device 3, the target pose of the navigation device 3 is determined, and the navigation device 3 is controlled to move to the target pose, ultimately achieving the placement of the robotic arm carriage 4 and the navigation device 3. This approach does not rely excessively on the surgeon's experience; the placement process does not require multiple trials and gradual adjustments, achieving placement in one step. This reduces the problems of the robotic arm's position being limited during surgery, preventing normal operation, or the navigation device's field of view shifting, hindering position recognition.

[0060] The operation area of ​​the surgical zone is determined based on the location information of the first markers, including: using the line connecting the two farthest first markers as a baseline to define a cubic space as the operation area. Specifically, determining the cubic space includes:

[0061] S210 extends the baseline at both ends, and the two ends of the extended baseline are the first endpoints;

[0062] S211 extends horizontally in both directions from the two first endpoints to obtain the second endpoint.

[0063] S212 extends vertically in both directions from the second endpoint to the third endpoint, and the space between the third endpoints forms a cubic space.

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

[0065] First, establish a line connecting the two first markers 1 as a baseline L1. The two ends of the baseline L1 are the femoral tracer at position A1 and the tibial tracer at position A2, respectively. Extend the line along the first horizontal direction X from A1 and A2 to points B1 and B2, respectively.

[0066] The two ends B1 and B2 after the baseline is extended are the first endpoints. Starting from B1 and B2 respectively, the second endpoints C1, C2, C3 and C4 are obtained by extending along the second horizontal direction Y in both directions.

[0067] Next, starting from the second endpoints C1, C2, C3, and C4, extend in both directions along the vertical Z direction to obtain the third endpoints D1, D2, D3, D4, D5, D6, D7, and D8. 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 the three directions is a pre-set length, which can be adjusted according to factors such as the type of surgery, the patient's leg length, and the patient's weight. For example, if the patient is tall or heavy, a greater extension distance may be required to meet the surgical needs.

[0068] In some alternative implementations, the number of first markers 1 can be more than two. For example, in knee replacement surgery, in addition to femoral tracers and tibial tracers, there may be tools such as probes or tool registers as first markers.

[0069] In step S200, the recommended movement path for the robotic arm trolley under the initial motion range envelope operating range state is calculated, including:

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

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

[0072] S222 determines the first path for moving the center point of the intersection contour to the center point of the cube space based on the first position information and the second position information, and determines the recommended path for the robotic arm trolley to move based on the first path.

[0073] Specifically, such as Figure 4 and Figure 5 As shown, when determining the recommended path for the robotic arm trolley to move by encompassing the operating range F with the initial motion range H, the first position information of the center point Q in the cubic space is first determined. This first position information can be calculated based on the endpoint coordinates of the cubic space E. Then, using the horizontal plane where the center point Q is located as section P, the intersection profile M of section P and the boundary of the initial motion range H of the robotic arm is intercepted, and the second position information of the center point O of the intersection profile is determined. Based on the first position information of the center point Q in the cubic space and the second position information of the center point O of the intersection profile, the path from the center point O of the intersection profile to the center point Q in the cubic space, coinciding with the two points, is determined as the first path. Based on this first path, the recommended path for the robotic arm trolley to move is determined, and the motion range of the end effector 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 (operating range F) used to characterize the possible surgical range is relatively fixed. Therefore, the movement of the robotic arm carriage 4 is necessary to ensure that the robotic arm 5 can reach the required position. Furthermore, during the position adjustment of the robotic arm carriage 4, the initial range of motion H of the robotic arm 5 only moves horizontally. 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 process of coinciding the two center points, reducing the complex calculation process.

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

[0076] Specifically, such as Figure 1 As shown, the robotic arm trolley 4 includes a trolley section 41 and a robotic arm 5 mounted on top of the trolley section 41. One end of the robotic arm 5 connected to the trolley section 41 is a base, and the other end is an end effector. The end effector of the robotic arm 5 is used to carry surgical tools to assist the surgeon in performing surgical operations. For example, in knee replacement surgery, the end effector of the robotic arm carries an electric oscillating saw, and the saw blade of the oscillating saw is used to assist the surgeon in bone cutting. Of course, in some optional embodiments, the surgical tools can be drills, milling cutters, or other tools; this is not limited here.

[0077] The second marker 2 is a tracer installed on the trolley section 41 to acquire the position information of the robotic arm trolley 4. Since the second marker 2 is fixed in a fixed position on the trolley section 41 during use, and the base of the robotic arm 5 is connected to and relatively fixed to the trolley section 41, the second marker 2 and the base have a predetermined positional relationship. Simultaneously, the movement and range of motion of the robotic arm end effector relative to its base can also be obtained through motion feedback within 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 range of motion of the robotic arm end effector relative to its base, the space that the robotic arm end effector can reach within the surgical space, i.e., the initial range of motion H, is determined.

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

[0079] S310 establishes a virtual coordinate system, and in the virtual coordinate system, establishes a first spatial model of the final motion range and a second spatial model of the field of view.

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

[0081] S312 determines whether the first intersection is less than the first spatial model. If so, it calculates the target pose of the navigation device; otherwise, it determines the pose of the current navigation device as the target pose.

[0082] It is easy to understand that, in order to determine the target pose of the navigation device 3 based on the positional relationship between the final range of motion I and the field of view R of the navigation device 3, in step S310, as follows: Figure 6 As shown, a virtual coordinate system W is first established, along with a first spatial model J and a second spatial model K corresponding to the final motion range I and the field of view R, respectively. The target pose of the navigation device 3 is determined using 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 spatial model J and the second spatial model K is calculated. If the first intersection is less than the first spatial model J, it means that the first spatial model J is not completely contained by the second spatial model K. In this case, the second spatial model K needs to be adjusted so that it can completely contain the first spatial model J, that is, the field of view R of the navigation device can completely contain the final motion range I of the robotic arm end effector. Similarly, if the first intersection is equal to the first spatial model J, it means that the first spatial model J is completely contained by the second spatial model K, and the current pose of the navigation device 3 is determined to be the target pose, that is, no adjustment is required.

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

[0084] S320 determines the center of the first spatial model and the axis of the second spatial model;

[0085] S321 determines the angle that needs to be adjusted when the axis passes through the center, and determines the target angle of the navigation device based on this angle;

[0086] S322 calculates the second intersection of the first and second spatial models after axis adjustment;

[0087] S323 determines whether the second intersection is less than the first spatial model. If so, it calculates the target position of the navigation device; otherwise, it determines the pose of the current navigation device as the target pose.

[0088] Specifically, such as Figure 6 The first intersection shown is smaller than the first spatial model J, meaning the first spatial model J is not completely contained by the second spatial model K. At this point, it is necessary to calculate the target position of the navigation device. For details, please refer to [link / reference needed]. Figure 6 and Figure 7First, the center G of the first spatial model J and the axis U of the second spatial model K are determined. Using the center G as a reference, the angle of the axis U is adjusted so that it passes through the center G. This process ensures that the first spatial model J is approximately located in the middle of the second spatial model K. After 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, the current pose of the navigation device 3 can be determined as the target pose, and no further adjustment is required. It is easy to understand that when the first intersection is smaller than the first spatial model J, the angle of the navigation device 3 is adjusted first. This reduces the movement of the navigation device 3, and the surgical navigation requirements can be met simply by adjusting the angle of the navigation device, making the operation convenient.

[0089] When the second intersection is smaller than the first spatial model, the target position of the navigation device is calculated by: moving the second spatial model successively along the axis of the second spatial model by a unit distance 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 less than the first spatial model J, it indicates that adjusting the angle of the navigation device 3 is insufficient to include the first spatial model J in the second spatial model K. 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 increases gradually along its axis U towards the direction of the navigation device, the adjustment is considered by moving the navigation device 3 away from the robotic arm trolley 4, that is, moving the second spatial model K a unit distance away along its axis U in a distancing direction. The preset unit distance for each movement is 10mm. Of course, in some optional embodiments, the unit distance can be other values, such as 1mm, 2mm, 20mm, 50mm, 100mm, etc. Through multiple unit distance movements, until the second intersection equals the first spatial model. Figure 8 As shown, at this point, the second spatial model K completely encloses the first spatial model J, meaning the field of view R of the navigation device 3 can cover the final motion range I of the robotic arm's end effector, maximizing the fulfillment of surgical navigation needs. The pose of the navigation device is calculated and adjusted based on the model's movement path, and the navigation device is then positioned. After positioning, as shown... Figure 9 As shown, the field of view R of the navigation device 3 can cover the final motion range I of the robotic arm end, and the final motion range completely covers the operating range F, meeting the surgical navigation needs of various positions during surgery.

[0091] It should be noted that the comparison of the size of the spatial model or intersection in the aforementioned process refers to the comparison of the volume of the spatial model or intersection or the space it contains.

[0092] This disclosure also provides a surgical equipment placement system, such as... Figure 10 As shown, the system includes:

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

[0094] The first determining module 7 is used to determine the operating range of the surgical area based on the position information of the first marker, determine the initial motion range of the robotic arm end based on the position information of the second marker, calculate the recommended movement path that the robotic arm trolley needs to move under the state of the initial motion range envelope operating range, and control the robotic arm trolley to move to the target position based on the recommended movement path information.

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

[0096] Furthermore, embodiments of this disclosure also provide a surgical system, such as Figure 2 As shown, it includes:

[0097] 4. The robotic arm trolley is equipped with a robotic arm, the end of which is used to carry surgical instruments.

[0098] The navigation system includes navigation device 3, which is used to determine the position of the patient's legs and surgical instruments during surgery to guide the surgery to proceed according to the predetermined surgical plan;

[0099] The control system 9 includes a surgical equipment positioning system as described in the first aspect, for controlling the positioning of the surgical system and controlling the robotic arm to assist in the surgery according to a predetermined surgical plan.

[0100] In summary, the surgical equipment placement method, placement system, and surgical system proposed in this disclosure determine the operating range of the surgical area and the initial motion range of the robotic arm's end effector by using the position information of the first and second markers, respectively. They then calculate the recommended movement path of the robotic arm carriage within the initial motion range envelope, and control the robotic arm carriage to move to the target position. Subsequently, based on the target position, they determine the final motion range of the robotic arm's end effector after the robotic arm carriage moves. Based on the positional relationship between the final motion range and the field of view of the navigation device, they determine the target pose of the navigation device and control the navigation device to move to the target pose, ultimately achieving the placement of the robotic arm carriage and the navigation device. This solution does not rely excessively on the surgeon's experience, and the placement process does not require multiple trials and gradual adjustments; placement is achieved in one step. It reduces the problems of the robotic arm's position being limited during surgery, preventing normal operation, or the navigation device's field of view being offset, hindering position recognition.

[0101] Although this disclosure has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, such modifications or improvements made without departing from the spirit of this disclosure are all within the scope of protection claimed by this disclosure.

Claims

1. A method for positioning surgical equipment, characterized in that, include: Obtain the position information of the first marker in the surgical area and the position information of the second marker on the robotic arm carriage; The operating range of the surgical area is determined based on the position information of the first marker, the initial motion range of the robotic arm end is determined based on the position information of the second marker, the recommended movement path of the robotic arm trolley that needs to move under the state of the initial motion range encompassing the operating range is calculated, and the robotic arm trolley is controlled to move to the target position based on the recommended movement path information. Based on the target position, the final range of motion of the robotic arm end effector after the robotic arm trolley moves is determined. Based on the positional relationship between the final range of motion and the field of view of the navigation device, the target pose of the navigation device is determined and the navigation device is controlled to move to the target pose. The number of the first markers is multiple, and the step of determining the operating range of the surgical area based on the position information of the first markers includes: using the line connecting the two farthest first markers as a baseline to determine a cubic space as the operating range; The determination of the cube space includes: extending the baseline along both ends, with the two ends of the extended baseline being the first endpoints; extending the baseline horizontally in both directions from the two first endpoints to obtain the second endpoints; extending the baseline vertically in both directions from the second endpoints to obtain the third endpoints; and the space between the third endpoints constitutes the cube space. The calculation of the recommended movement path for the robotic arm trolley to move under the initial motion range envelope of the operating range includes: determining the first position information of the center point of the cube space, determining the intersection profile of the horizontal plane where the center point is located and the boundary of the initial motion range, and determining the second position information of the center point of the intersection profile, determining the first path for the center point of the intersection profile to move to the center point of the cube space based on the first position information and the second position information, and determining the recommended movement path for the robotic arm trolley based on the first path.

2. The surgical equipment placement method according to claim 1, characterized in that, The robotic arm has a base and an end effector at both ends. The second marker has a predetermined positional relationship with the robotic arm base. Determining the initial movement range of the robotic arm end effector based on the position information of the second marker includes: determining the initial movement range based on the position information of the second marker, the predetermined positional relationship, and the movable range of the robotic arm end effector relative to the robotic arm base.

3. The surgical equipment placement method according to claim 1, characterized in that, Determining the target pose of the navigation device based on the positional relationship between the final range of motion and the field of view of the navigation device includes: Establish a virtual coordinate system, and in the virtual coordinate system, establish a first spatial model of the final motion range and a second spatial model of the field of view; Calculate the first intersection of the first spatial model and the second spatial model; Determine whether the first intersection is smaller than the first spatial model. If so, calculate the target pose of the navigation device; otherwise, determine the pose of the current navigation device as the target pose.

4. The surgical equipment placement method according to claim 3, characterized in that, Calculating the target position of the navigation device when the first intersection is less than the first spatial model includes: Determine the center of the first spatial model and the axis of the second spatial model; Determine the angle that the axis needs to be adjusted to pass through the center, and determine the target angle of the navigation device based on that angle; Calculate the second intersection of the first spatial model and the second spatial model after axis adjustment; Determine whether the second intersection is smaller than the first spatial model. If so, calculate the target position of the navigation device; otherwise, determine the pose of the current navigation device as the target pose.

5. The surgical equipment placement method according to claim 4, 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 one unit distance along its axis until the second intersection equals the first spatial model. 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.

6. A surgical equipment placement system, characterized in that, The system for performing the surgical device placement method as described in claim 1, the system comprising: The acquisition module is used to acquire the position information of the first marker in the surgical area and the position information of the second marker on the robotic arm trolley; The first determining module is used to determine the operating range of the surgical area based on the position information of the first marker, determine the initial motion range of the robotic arm end based on the position information of the second marker, calculate the recommended movement path that the robotic arm trolley needs to move under the state where the initial motion range encompasses the operating range, and control the robotic arm trolley to move to the target position based on the recommended movement path information. The second determining module is used to determine the final movement range of the end effector of the robotic arm after the robotic arm trolley moves according to the target position, and to determine the target pose of the navigation device and control the navigation device to move to the target pose based on the positional relationship between the final movement range and the field of view of the navigation device.

7. A surgical system, characterized in that, include: A robotic arm trolley, on which a robotic arm is mounted, the end of which is used to carry surgical instruments; A navigation system, including a navigation device, is used to determine the position of the patient's legs and surgical instruments 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 6, for controlling the positioning of the surgical system and controlling the robotic arm to assist in surgery according to a predetermined surgical plan.

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