Operation view field adjusting method and device based on optical tracking system and electronic device

Abstract

The invention relates to a surgical view field adjusting method and device based on an optical tracking system, an electronic device and a storage medium, the method is applied to automatically adjusting a surgical view field of a surgical robot system, and the surgical robot system comprises a surgical execution arm and the optical tracking system. The method comprises the steps that multiple sets of mark information and operation space information are obtained through an optical tracking system; the mark information comprises first mark point information used for marking the pose information of the operation execution arm; determining a theoretical observation point of the optical tracking system according to the first mark point information and the operation space information; and adjusting the pose of the optical tracking system to the target pose according to the theoretical observation point, so that the theoretical observation point is in the center of the surgical field of view. According to the invention, the problem that the pose adjustment process of an optical tracking system is tedious and time-consuming is solved, and the efficiency and accuracy of obtaining the surgical field of view are improved.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a method, device, electronic device and storage medium for adjusting the surgical field of view based on an optical tracking system. Background Art

[0002] With the continuous development of science and technology, surgical robots have received increasing attention and discussion. With their inherent properties of greater precision, less invasiveness, simplicity, and low risk, surgical robots have become an unstoppable technological trend in the field of modern medicine. Surgical navigation robots are generally composed of a positioning system, a control system, and an optical tracking system. The robot positioning system accurately locates the supporting positioning components to assist the doctor in completing the surgical positioning operation; the control system, with software as its core, completes the medical image acquisition during the operation, the planning of the tunnel entry and end points of the anatomical features of the surgical site, the navigation display, and the robot control; the optical tracking system can monitor the position of special markers in real time, transmit them to the control system, and detect the positional relationship between the surgical site and surgical medical instruments such as drills, Kirschner wires, ablation probes, and puncture needles.

[0003] Before the actual surgery, spatial registration is achieved by controlling the surgical robot's robotic arm to move along a specified registration trajectory within the optical tracking system's receptive field. To improve the accuracy of the robotic arm's automatic registration, adjusting the optical tracking system's position to achieve a reasonable surgical field of view is essential. In existing technologies, achieving a reasonable surgical field of view typically requires the user to manually adjust the optical tracking system's position, a cumbersome and time-consuming process.

[0004] There is currently no effective solution to how to obtain a more accurate and efficient surgical field of view. Summary of the Invention

[0005] In this embodiment, a surgical field of view adjustment method, device, electronic device and storage medium based on an optical tracking system are provided to solve the problem in the related art that the process of adjusting the position of the optical tracking system is cumbersome and time-consuming.

[0006] In a first aspect, this embodiment provides a method for adjusting the surgical field of view based on an optical tracking system. The method is applied to automatically adjust the surgical field of view of a surgical robot system, wherein the surgical robot system includes a surgical execution arm and an optical tracking system. The method includes:

[0007] Acquire multiple sets of marking information and surgical space information through the optical tracking system; the marking information includes first marking point information for marking the posture information of the surgical execution arm;

[0008] determining a theoretical observation point of the optical tracking system according to the first marking point information and the surgical space information;

[0009] The position of the optical tracking system is adjusted to a target position according to the theoretical observation point, so that the theoretical observation point is at the center of the surgical field of view.

[0010] In some embodiments, determining the theoretical observation point of the optical tracking system according to the first marker information and the surgical space information includes:

[0011] determining a first envelope space including the first marker information and the surgical space information;

[0012] Based on the first envelope space and a preset field of view, a theoretical observation point of the optical tracking system is determined.

[0013] In some embodiments, the surgical robot system further includes a surgical cart for placing the surgical execution arm, the marking information further includes second marking point information for marking the position information of the surgical cart, and determining the theoretical observation point of the optical tracking system based on the first envelope space and the preset field of view range includes:

[0014] determining a second envelope space including the second marker point information, the first marker point information, and the surgical space information;

[0015] A theoretical observation point of the optical tracking system is determined based on the first envelope space, the second envelope space, and the preset field of view.

[0016] In some embodiments, determining the theoretical observation point of the optical tracking system based on the first envelope space, the second envelope space, and the preset field of view includes:

[0017] determining a target reference space volume based on a first centroid of the first envelope space;

[0018] Each point on the surface of the target reference space body is used as a test observation point;

[0019] Determining a test field of view space based on the test observation point and the preset field of view range;

[0020] Traversing all test observation points, determining the test observation points corresponding to the second envelope space in the test field of view space as candidate observation points, until all test observation points are traversed to obtain a set of candidate observation points;

[0021] In the candidate observation point set, the candidate observation point corresponding to the minimum distance between the candidate observation point and the second centroid of the second envelope space is determined as the theoretical observation point.

[0022] In some embodiments, determining the target reference space volume based on the first centroid of the first envelope space includes:

[0023] determining an initial reference space volume based on the first centroid and the initial range;

[0024] Determining whether there is an alternative observation point on the initial reference space body;

[0025] If there is an alternative observation point on the initial reference space volume, determining the initial reference space volume as the target reference space volume;

[0026] If no candidate observation point exists on the initial reference space volume, adjusting the initial range by a preset step size to obtain an adjusted reference space volume;

[0027] The above steps of obtaining the adjusted reference space volume are repeated until a candidate observation point appears on the adjusted reference space volume for the first time, and the adjusted reference space volume corresponding to the candidate observation point that appears for the first time is determined as the target reference space volume.

[0028] In some embodiments, obtaining surgical space information through the optical tracking system includes:

[0029] Acquire the relative posture information between the surgical space and the end of the surgical execution arm, the first posture information of the end of the surgical execution arm in the surgical execution arm coordinate system, and the execution arm reference posture of the end of the surgical execution arm in the optical tracking system coordinate system;

[0030] The surgical space information is determined based on the coordinate transformation relationship between the relative posture information, the first posture information, and the reference posture of the execution arm.

[0031] In some embodiments, adjusting the pose of the optical tracking system to a target pose according to the theoretical observation point includes:

[0032] Determining a target posture of the optical tracking system based on the theoretical observation point, a preset angle between the optical path direction of the optical tracking system and the posture information of the surgical execution arm, and the preset field of view range;

[0033] The pose of the optical tracking system is adjusted to the target pose.

[0034] In some embodiments, the optical tracking system includes an optical navigator and a navigation cart, the optical navigator is disposed on the navigation cart, the optical navigator is used to acquire a surgical field of view, the navigation cart is used to carry the optical navigator for movement, the target posture of the optical tracking system includes a target position and a target posture of the optical navigator, and adjusting the posture of the optical tracking system to the target posture includes:

[0035] Determining a cart target position of the navigation cart based on the target position and relative position information between the optical navigation device and the navigation cart;

[0036] controlling the navigation cart to move to the cart target position so that the optical navigation device is at the target position;

[0037] When the navigation cart is at the cart target position, the optical navigation device is adjusted to the target posture.

[0038] In some embodiments, controlling the navigation cart to move to the cart target position includes:

[0039] Determining theoretical posture information of the surgical execution arm in the optical tracking system coordinate system based on the theoretical observation point, wherein the theoretical posture information includes a theoretical position;

[0040] Controlling the movement of the navigation cart and obtaining the real-time position of the surgical execution arm through the optical navigator;

[0041] When the error between the real-time position of the surgical execution arm and the theoretical position is less than or equal to a first preset error, the navigation cart moves to the cart target position.

[0042] In some embodiments, the theoretical position information further includes a theoretical posture, and adjusting the optical navigator to the target posture includes:

[0043] controlling the optical navigator to perform posture adjustment, and obtaining the real-time posture of the surgical execution arm through the optical navigator after the optical navigator performs posture adjustment;

[0044] When the error between the real-time posture of the surgical execution arm and the theoretical posture is less than or equal to a second preset error, the optical navigator is adjusted to the target posture.

[0045] In a second aspect, this embodiment provides a surgical field of view adjustment device based on an optical tracking system, the device being used to automatically adjust the surgical field of view of a surgical robot system, the surgical robot system including a surgical execution arm and an optical tracking system, the device comprising:

[0046] An acquisition module, configured to acquire multiple sets of marking information and surgical space information through the optical tracking system; the marking information includes first marking point information for marking the posture information of the surgical execution arm;

[0047] a determination module, configured to determine a theoretical observation point of the optical tracking system according to the first marking point information and the surgical space information;

[0048] The posture adjustment module is used to adjust the posture of the optical tracking system to a target posture according to the theoretical observation point, so that the theoretical observation point is at the center of the surgical field of view.

[0049] In a third aspect, an electronic device is provided in this embodiment, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the surgical field of view adjustment method based on the optical tracking system described in the first aspect is implemented.

[0050] In a fourth aspect, a storage medium is provided in this embodiment, on which a computer program is stored. When the program is executed by a processor, the surgical field of view adjustment method based on the optical tracking system described in the first aspect is implemented.

[0051] Compared with related technologies, the surgical field of view adjustment method based on the optical navigation system provided in this embodiment obtains the first marking point information and surgical space information of the surgical execution arm posture information through the optical tracking system, and determines the theoretical observation point based on the first marking point information and the surgical space information, and then can determine the target posture of the optical tracking system based on the theoretical observation point, and adjust the posture of the optical tracking system to the target posture, thereby realizing automatic adjustment of the surgical field of view without the user having to manually adjust the posture of the optical tracking system to obtain a reasonable surgical field of view, and making the theoretical observation point in the center of the surgical field of view, thereby improving the efficiency and accuracy of surgical field of view acquisition. The details of one or more embodiments of the present application are presented in the following drawings and descriptions to make other features, purposes and advantages of the present application more concise and easy to understand. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0053] Figure 1 This is a schematic diagram of an application scenario of a surgical field of view adjustment method based on an optical navigation system provided in an embodiment of the present application;

[0054] Figure 2This is a flow chart of a method for adjusting the surgical field of view based on an optical navigation system provided in an embodiment of the present application;

[0055] Figure 3 is a schematic diagram of a first envelope space provided in an embodiment of the present application;

[0056] Figure 4 This is a schematic diagram of the first preset field of view range provided in an embodiment of the present application;

[0057] Figure 5 This is a schematic diagram of the second preset field of view range provided in an embodiment of the present application;

[0058] Figure 6 This is a schematic diagram of a theoretical observation point provided in an embodiment of the present application;

[0059] Figure 7 This is a schematic diagram of a surgical scenario provided by an embodiment of the present application;

[0060] Figure 8 is a schematic diagram of a second envelope space provided in an embodiment of the present application;

[0061] Figure 9 This is a flow chart for determining a theoretical observation point provided by an embodiment of the present application;

[0062] Figure 10 is a schematic diagram of an optical tracking system provided in an embodiment of the present application;

[0063] Figure 11 This is a flow chart of posture adjustment of an optical navigation system provided in an embodiment of the present application;

[0064] Figure 12 Schematic diagram of the surgical field of view of an optical navigation system provided by an embodiment of the present application when the system is in a target posture;

[0065] Figure 13 This is a structural block diagram of a surgical field of view adjustment device based on an optical navigation system provided in an embodiment of the present application;

[0066] Figure 14 This is a schematic diagram of the internal structure of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0067] In order to more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0068] Unless otherwise defined, the technical terms or scientific terms involved in this application should have the general meaning understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "an", "a", "the", "these" and the like in this application do not indicate quantitative restrictions, and they can be singular or plural. The terms "include", "comprise", "have" and any variants thereof involved in this application are intended to cover non-exclusive inclusions; for example, a process, method and system, product or device comprising a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "plurality" involved in this application refers to two or more. "And / or" describes the relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, and B exists alone. Generally, the character " / " indicates that the related objects are in an "or" relationship. The terms "first," "second," "third," etc. used in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0069] With the continuous development of science and technology, surgical robots have received increasing attention and discussion. With their inherent properties of greater precision, less invasiveness, simplicity, and low risk, surgical robots have become an unstoppable technological trend in the field of modern medicine. Surgical navigation robots are generally composed of a positioning system, a control system, and an optical tracking system. The robot positioning system accurately locates the supporting positioning components to assist the doctor in completing the surgical positioning operation; the control system, with software as its core, completes the medical image acquisition during the operation, the planning of the tunnel entry and end points of the anatomical features of the surgical site, the navigation display, and the robot control; the optical tracking system can monitor the position of special markers in real time, transmit them to the control system, and detect the positional relationship between the surgical site and surgical medical instruments such as drills, Kirschner wires, ablation probes, and puncture needles.

[0070] Before the actual surgery, spatial registration is achieved by controlling the surgical robot's robotic arm to move along a specified registration trajectory within the optical tracking system's receptive field. To improve the accuracy of the robotic arm's automatic registration, adjusting the optical tracking system's position to achieve a reasonable surgical field of view is essential. In existing technologies, achieving a reasonable surgical field of view typically requires the user to manually adjust the optical tracking system's position, a cumbersome and time-consuming process.

[0071] Therefore, how to obtain a more accurate and efficient surgical field of view is a problem that needs to be solved.

[0072] The surgical field of view adjustment method based on the optical tracking system provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown, Figure 1 : This is a schematic diagram of an application scenario of a surgical field of view adjustment method based on an optical tracking system provided in an embodiment of the present application. Among them, the terminal 102 communicates with the server 104 through a network. The data storage system can store data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other network servers. The server 104 can be implemented as an independent server or a server cluster consisting of multiple servers. The terminal 102 can be an optical tracking system (OTS), and the optical tracking system can include an optical navigator.

[0073] In an embodiment of the present application, a method for adjusting the surgical field of view based on an optical tracking system is provided. Figure 2 This is a flowchart of a method for adjusting the surgical field of view based on an optical tracking system provided by an embodiment of the present application. The method can be applied to automatically adjust the surgical field of view of a surgical robot system. The surgical robot system may include a surgical execution arm and an optical tracking system. The execution subject of the method may be an electronic device in the surgical robot system. Optionally, the electronic device may be a server, but the present application is not limited thereto. Specifically, as Figure 2 As shown, the process includes the following steps:

[0074] Step S201 : Acquire multiple sets of marking information and surgical space information through an optical tracking system.

[0075] The marking information includes first marking point information used to mark the posture information of the surgical execution arm.

[0076] For example, when performing spatial registration through a surgical robot system, an optical marker can be set at the end of the surgical execution arm to mark the posture information of the surgical execution arm. The optical marker can be a registration array composed of multiple reflective optical balls. The posture information of the registration array is the first marking point information. The surgical execution arm posture information can be obtained by tracking the optical balls in the registration array at the current posture through the optical tracking system. The surgical space can be predetermined, so that the optical tracking system can obtain the surgical execution arm posture information and surgical space information at the current posture, wherein the current posture is the initial posture of the optical tracking system, and the acquired surgical execution arm posture information and surgical space information are based on the optical tracking system coordinate system.

[0077] Step S202: determining a theoretical observation point of the optical tracking system according to the first marking point information and the surgical space information.

[0078] For example, when the optical tracking system acquires the surgical field of view, there is an optimal observation point. This optimal observation point can be the main observation target of the optical tracking system. When the optimal observation point is determined, the corresponding surgical field of view is also determined. When the surgical robot system performs spatial registration and surgical operations, the main observation targets of the optical tracking system are the surgical execution arm and the surgical space. Therefore, the optimal observation point of the optical tracking system can be determined based on the first marking point information that marks the surgical execution arm and the surgical space information. This optimal observation point is the theoretical observation point. Specifically, the center of the smallest spatial body that contains the first marking point information and the surgical space information can be determined as the theoretical observation point.

[0079] Step S203: adjusting the position of the optical tracking system to the target position according to the theoretical observation point so that the theoretical observation point is at the center of the surgical field of view.

[0080] Furthermore, after the theoretical observation point is determined, the surgical field of view corresponding to the theoretical observation point can be determined, and then the position of the optical tracking system under the surgical field of view, that is, the target position, can be determined in reverse. Furthermore, the optical tracking system is adjusted from the current position to the target position so that the theoretical observation point is in the center of the surgical field of view.

[0081] In the above implementation process, the first marker point information and surgical space information of the surgical execution arm posture information are obtained through the optical tracking system, and the theoretical observation point is determined based on the first marker point information and the surgical space information. Then, the target posture of the optical tracking system can be determined based on the theoretical observation point, and the optical tracking system is adjusted to the target posture, thereby realizing automatic adjustment of the surgical field of view without the need for the user to manually adjust the posture of the optical tracking system to obtain a reasonable surgical field of view. Moreover, the theoretical observation point is in the center of the surgical field of view, ensuring that the surgical execution arm and the surgical space are in the center of the surgical field of view, thereby improving the efficiency and accuracy of surgical field of view acquisition.

[0082] In some embodiments, determining a theoretical observation point of the optical tracking system according to the first marker information and the surgical space information includes:

[0083] Step 1: Determine a first envelope space including first marker information and surgical space information.

[0084] For example, based on the first marker information of the surgical arm posture information and the surgical space information, an envelope algorithm can be used to determine a first envelope space containing the first marker information and the surgical space information. Specifically, the envelope algorithm can be any one of a minimum bounding sphere envelope algorithm, a minimum bounding box envelope algorithm, and a mesh simplification envelope algorithm, or other envelope algorithms, which are not limited here.

[0085] Figure 3 is a schematic diagram of a first envelope space provided in an embodiment of the present application, such as Figure 3 As shown, the first envelope space includes first marker point information and surgical space information. The first marker point information may be the position of the registration array at the end of the surgical execution arm, and the surgical space information may be a predetermined surgical range space.

[0086] During surgery or registration, the first envelope space including the surgical execution arm and the surgical space is the main area observed by the optical tracking system. Therefore, when adjusting the posture of the optical tracking system, it is necessary to ensure that the first envelope space is at the center of the field of view of the adjusted optical tracking system. Therefore, the theoretical observation point of the surgical field of view of the optical tracking system can be reversely deduced from the posture of the first envelope space.

[0087] Step 2: Based on the first envelope space and the preset field of view, determine the theoretical observation point of the optical tracking system.

[0088] For example, the spatial range of the surgical field of view of the optical tracking system is usually fixed. The spatial range of the surgical field of view can be set to a preset field of view range, and there is an optimal observation point within its field of view spatial range. The optimal observation point can be the theoretical observation point of the optical tracking system. The object at this observation point is the optimal observation object of the optical tracking system. In the embodiment of the present application, the first envelope space is the optimal observation object.

[0089] Figure 4 This is a schematic diagram of the first preset field of view provided in the embodiment of the present application. Figure 4 As shown, the preset field of view range of the optical tracking system can be composed of three trapezoidal bodies, namely: a first trapezoidal body A1B1C1D1-A2B2C2D2, a second trapezoidal body A2B2C2D2-A3B3C3D3 and a third trapezoidal body A3B3C3D3-A4B4C4D4.

[0090] In order to accurately determine the position and posture of the optical tracking system, the preset field of view can be simplified to obtain a simplified second preset field of view. Figure 5 This is a schematic diagram of the second preset field of view range provided in the embodiment of the present application, such as Figure 5The second preset field of view range shown may be composed of a trapezoid A1B1C1D1-A3B3C3D3 and a cuboid A3B3C3D3-A4B4C4D4, and its theoretical observation point O may be determined according to its application scenario. Figure 6 This is a schematic diagram of a theoretical observation point provided in the embodiment of the present application. Figure 6 As shown, with the optical path direction of the optical tracking system as the viewing angle, the theoretical observation point O can be the center of the field of view. Therefore, once the theoretical observation point is determined, the corresponding field of view spatial range of the optical tracking system can be determined.

[0091] Since the first envelope space is the best observation object of the optical tracking system, the best observation point of the optical tracking system is within the range of the first envelope space.

[0092] As an example, any point in the first envelope space can be used as a test point. If the field of view space range corresponding to the test point includes the first envelope space, then the test point is the theoretical observation point of the optical tracking system.

[0093] As another example, in order to improve the accuracy of the position determination of the optical tracking system, the center of the first envelope space can be used as the starting point of the test point to determine the corresponding field of view space range. If the field of view space range corresponding to the center of the first envelope space includes the first envelope space, the center of the first envelope space is used as the theoretical observation point of the optical tracking system.

[0094] If the field of view space range corresponding to the center of the first envelope space does not include the first envelope space, a sphere is generated with the center of the first envelope space as the center of the sphere and the preset step size as the radius. The points on the sphere are used as test points in sequence to determine the field of view space range corresponding to each test point. If the field of view space range corresponding to any test point includes the first envelope space, the test point corresponding to the field of view space range including the first envelope space is determined as the theoretical observation point.

[0095] If the field of view space range corresponding to all points on the sphere does not include the first envelope space, the radius of the sphere is increased by a preset step size, and the above process of determining the theoretical observation point is repeated until the theoretical observation point is determined.

[0096] In the above implementation process, a first envelope space including first marker point information and surgical space information is determined, and then the theoretical observation point of the optical tracking system is reversely deduced based on the first envelope space and the preset field of view range, so that the target posture of the optical tracking system can be determined based on the theoretical observation point of the optical tracking system, and the posture of the optical tracking system can be adjusted to the target posture based on the theoretical observation point, thereby realizing automatic adjustment of the optical tracking system without the need for the user to manually adjust the posture of the optical tracking system. When the optical tracking system is in the target posture, the theoretical observation point is in the center of the surgical field of view, so that the surgical execution arm and the surgical space are in the central range of the surgical field of view, thereby improving the accuracy of the posture adjustment of the optical tracking system.

[0097] In some embodiments, the surgical robot system further includes a surgical cart for placing the surgical execution arm, and the marking information further includes second marking point information for marking the posture information of the surgical cart. Based on the first envelope space and the preset field of view range, determining the theoretical observation point of the surgical field of view includes:

[0098] Step 1: Determine a second envelope space including second marker information, first marker information, and surgical space information.

[0099] Step 2: Determine the theoretical observation point of the optical tracking system based on the first envelope space, the second envelope space, and the preset field of view.

[0100] For example, during surgery or registration using an optical tracking system, the surgical arm is typically fixed to a surgical cart, which drives the arm's movements. Therefore, during spatial registration, to improve the accuracy of the optical tracking system's position determination, the surgical cart's position information also needs to be determined. Therefore, the surgical cart must be within the optical tracking system's field of view. Specifically, a cart array composed of optical spheres can be placed on the surgical cart. By tracking the cart array, the optical tracking system can obtain second marker point information used to mark the surgical cart's position information.

[0101] Figure 7 This is a schematic diagram of a surgical scenario provided by an embodiment of the present application, such as Figure 7 In the illustrated surgical scenario, a surgical arm is typically mounted on a surgical cart. A registration array is located at the end of the arm, allowing the optical tracking system to determine the arm's first marker information. The cart also has a cart array, allowing the optical tracking system to determine the cart's second marker information. The surgical subject is on the operating table, and the surgical site is located within a pre-defined surgical space.

[0102] Specifically, when the optical tracking system is in the initial position, in addition to obtaining the first marking point information of the surgical execution arm and the surgical space information, the second marking point information of the surgical cart can also be obtained.

[0103] Furthermore, according to the first marking point information of the surgical execution arm, the surgical space information and the second marking point information of the surgical cart and using an envelope algorithm, a second envelope space including the surgical execution arm, the surgical cart and the surgical space is determined.

[0104] The second envelope space is used as the optimal observation object of the optical tracking system, that is, the theoretical observation point can be determined according to the first envelope space, the second envelope space and the preset field of view.

[0105] Figure 8 is a schematic diagram of a second envelope space provided in an embodiment of the present application, such as Figure 8 The second envelope space shown includes the second marking point information, the first marking point information and the surgical space information.

[0106] Furthermore, a theoretical observation point can be determined according to the first envelope space, the second envelope space and the preset field of view.

[0107] In the above implementation process, a second envelope space including second marker point information, first marker point information, and surgical space information is determined, and then a theoretical observation point is determined based on the first envelope space, the second envelope space, and the preset field of view range. When the position of the optical tracking system is adjusted to the target position, the surgical execution arm, surgical cart, and surgical space can be accurately observed in the corresponding surgical field of view, thereby improving the accuracy of the surgical field of view adjustment of the optical tracking system.

[0108] In some embodiments, determining the theoretical observation point based on the first envelope space, the second envelope space, and the preset field of view may include the following steps:

[0109] Step 1: Determine the target reference space volume based on the first centroid of the first envelope space.

[0110] Step 2: Take each point on the surface of the target reference space as a test observation point.

[0111] Step 3: Determine the test field of view space based on the test observation point and the preset field of view range.

[0112] Step 4: Traverse all test observation points and determine the test observation points corresponding to the second envelope space in the test field of view space as candidate observation points, until all test observation points are traversed to obtain a set of candidate observation points.

[0113] Step 5: In the candidate observation point set, the candidate observation point corresponding to the minimum distance between the candidate observation point and the second centroid of the second envelope space is determined as the theoretical observation point.

[0114] For example, the shape of the target reference space volume may be preset first, and then the target reference space volume may be determined according to the preset shape of the target reference space volume and the first centroid of the first envelope space.

[0115] For example, the shape of the target reference space body can be a sphere, a cube, a cuboid, or other shapes, which are not limited here. In the embodiment of the present application, the shape of the preset target reference space body is a sphere as an example.

[0116] Specifically, a sphere with the first centroid as the center is used as the target reference space body, and each point on the sphere is used as a test observation point.

[0117] Furthermore, the test observation point is used as the current theoretical observation point of the optical tracking system, and the current test field of view space is determined according to the current theoretical observation point and the preset field of view range, and then it is determined whether the current test field of view space includes the second envelope space.

[0118] The test field of view space corresponding to each test observation point on the sphere is traversed to determine whether it contains the second envelope space. The test observation point corresponding to the second envelope space in the test field of view space is determined as an alternative observation point, and the process continues until all test observation points are traversed to obtain an alternative observation point set. If the alternative observation point set is empty, the radius of the sphere is increased to obtain the next target reference space volume, and the steps of generating the alternative observation point set are repeated. In other words, the alternative observation point set can include multiple alternative observation points, and the field of view range corresponding to each alternative observation point contains the second envelope space.

[0119] Furthermore, in the candidate observation point set, the candidate observation point corresponding to the minimum distance between the candidate observation point and the second centroid of the second envelope space is determined as the final theoretical observation point.

[0120] In the above implementation process, the target reference space body is determined according to the first centroid of the first envelope space, and each point on the target reference space body is used as a test observation point. According to the test observation point and the preset field of view range, the test field of view space corresponding to each test observation point is determined, and then the alternative observation point set is determined according to whether the test field of view space contains the second envelope space, so that the optical tracking system can simultaneously perform the surgery arm, the surgical cart and the surgical space in the surgical field corresponding to each alternative observation point in the alternative observation point set, and the alternative observation point corresponding to the minimum distance between the alternative observation point set and the second centroid of the second envelope space is determined as the final theoretical observation point, so that the surgical arm, the surgical cart and the surgical space can be within the optimal field of view of the optical navigator.

[0121] In some embodiments, determining the target reference space volume based on the first centroid of the first envelope space may include the following steps:

[0122] Step 1: Determine the initial reference space volume based on the first centroid and the initial range.

[0123] Step 2: Determine whether there are alternative observation points on the initial reference space.

[0124] Step 3: If there are alternative observation points on the initial reference space volume, the initial reference space volume is determined as the target reference space volume.

[0125] Step 4: If there is no alternative observation point on the initial reference space volume, the initial range is adjusted with a preset step size to obtain the adjusted reference space volume.

[0126] Step 5: Repeat the above steps of obtaining the adjusted reference space volume until the candidate observation point appears on the adjusted reference space volume for the first time, and determine the adjusted reference space volume corresponding to the first candidate observation point as the target reference space volume.

[0127] For example, the initial reference space is centered around the first centroid and surrounded by an initial range. For example, if the target reference space is a sphere, the initial range can be a smaller value set based on the actual application scenario, and the initial range can be an initial length. For example, the initial length can be 0.1 cm, 0.2 cm, or other lengths, without limitation.

[0128] Specifically, the sphere obtained by taking the first centroid as the center of the sphere and the initial length as the radius of the sphere is the initial reference space volume. For example, if the initial length is 0.1 cm, the initial reference space volume is a sphere with the first centroid as the center and a radius of 0.1 cm.

[0129] Furthermore, the above step of determining candidate observation points is performed to determine whether there are candidate observation points on the initial reference space volume.

[0130] If there are alternative observation points on the initial reference space volume, the initial reference space volume is determined as the target reference space volume.

[0131] If there are no alternative observation points on the initial reference space body, the initial range is adjusted with the preset step size to obtain the adjusted reference space body. The preset step size can be 0.1cm, 0.2cm, or other lengths, and is not limited here. Specifically, taking the initial length and the preset step size as 0.1cm as an example, the radius of the adjusted sphere is 0.2cm, and it is determined whether there are alternative observation points on the sphere with the first center of mass as the center and a radius of 0.2cm, and the steps of generating the adjusted reference space body are executed repeatedly until the alternative observation point appears on the adjusted reference space body for the first time, and then the adjusted reference space body corresponding to the first occurrence of the alternative observation point is determined as the target reference space body, that is, the sphere corresponding to the first occurrence of the alternative observation point is used as the target reference space body.

[0132] Moreover, when the radius of the sphere is greater than a preset value, there is no candidate observation point on the corresponding adjusted reference space body, and the process of determining the candidate observation point is terminated, indicating that the theoretical observation point cannot be determined at present.

[0133] It should be noted that the preset value can be determined based on practice and can be 3 cm, 4 cm, or 5 cm, and is not limited here. If the target reference space body is in the shape of a cube, the initial range can include the side length of the cube; if the target reference space body is in the shape of a cuboid, the initial range can include the length, width, and height of the cuboid. In other words, the amount of data in the initial range can be adaptively set according to the shape of the target reference space body, and is not limited here.

[0134] In the above implementation process, the initial reference space body is determined according to the first centroid and the initial range, and it is determined whether there is an alternative observation point on the initial reference space body. If there is no alternative observation point on the initial reference space body, the initial range is increased to obtain an adjusted reference space body, and the steps of generating the adjusted reference space body are executed cyclically. Moreover, the adjusted reference space body where the alternative observation point appears for the first time is used as the target reference space body, so that the target reference space body determined within the minimum distance range with the first centroid as the center includes the alternative observation point, thereby improving the accuracy of determining the alternative observation point, and thereby improving the accuracy of determining the theoretical observation point of the optical tracking system.

[0135] Figure 9 This is a flow chart of determining a theoretical observation point provided by an embodiment of the present application, such as Figure 9 The flowchart shown includes:

[0136] Step S901: Start.

[0137] Specifically, the first envelope space is determined based on the first marker information and the surgical space information using the envelope algorithm, which can be recorded as: ES1; the second envelope space is determined based on the second marker information, the first marker information and the surgical space information using the envelope algorithm, which can be recorded as: ES2.

[0138] Step S902: Determine a first centroid P1 of the first envelope space and a second centroid P2 of the second envelope space.

[0139] Specifically, the center of mass of an N-sided body (X cen ,Y cen ,Z cen ) is calculated as follows:

[0140]

[0141] Among them, (X1, Y1, Z1), (X2, Y2, Z2), ..., (X n ,Y n ,Z n ) are the coordinates of each vertex of the N-sided body. Furthermore, the first centroid P1 of the first envelope space can be expressed as: The first centroid P2 of the second envelope space can be recorded as:

[0142] Step S903: Generate a sphere with the first centroid P1 as the center and R as the radius.

[0143] Furthermore, a sphere is generated with the position of the first centroid P1 as the center and R as the radius. The initial value of R can be 0 cm or 0.1 cm.

[0144] Step S904: Determine whether R<3 cm.

[0145] Then, it is determined whether the current radius R of the sphere is less than 3 cm. If the current R is less than 3 cm, step S905 is executed; if the current R is greater than or equal to 3 cm, step S914 is executed.

[0146] Step S905: Any point on the sphere is used as a test observation point.

[0147] Specifically, any point on the sphere is used as a test observation point.

[0148] Step S906: Determine whether all points on the sphere have been traversed.

[0149] Furthermore, it is determined whether all points on the sphere have been traversed once as test observation points. If all points on the sphere have not been traversed, step S907 is executed; if all points on the sphere have been traversed, step S911 is executed.

[0150] Step S907: Determine the corresponding test viewing field space according to the current test observation point.

[0151] Specifically, if the points on the current sphere have not been traversed completely, the corresponding test field of view space is determined according to the current test observation point and the field of view range.

[0152] Step S908: Determine whether the second envelope space is within the test field of view space.

[0153] Furthermore, it is determined whether the second envelope space is included in the test field of view space. If the second envelope space is included in the test field of view space, step S909 is executed; if the second envelope space is not included in the test field of view space, step S910 is executed.

[0154] Step S909: determine the current test observation point as a candidate observation point, save the candidate observation point, and obtain a candidate observation point set.

[0155] Specifically, if the test field space corresponding to the current test observation point includes the second envelope space, the current test observation point is determined as a candidate observation point, and the candidate observation point is saved, thereby obtaining a candidate observation point set.

[0156] Step S910: traverse the next point on the sphere.

[0157] If the test field of view space corresponding to the current test observation point does not contain the second envelope space, or after the alternative observation point is saved, the next point on the sphere is traversed, that is, the next point on the sphere is used as the test observation point, and steps S905-S909 are executed in a loop.

[0158] Step S911: Determine whether the candidate observation point set is an empty set.

[0159] Specifically, when all points on the sphere have been traversed once as test observation points, it is determined whether the alternative observation point set is an empty set, that is, whether there is an alternative observation point in the alternative observation point set. If there is an alternative observation point in the alternative observation point set, step S912 is executed; if there is no alternative observation point in the alternative observation point set, step S913 is executed.

[0160] Step S912: Determine the candidate observation point in the candidate observation point set that is closest to the second centroid P2 as the theoretical observation point.

[0161] Specifically, when there are candidate observation points in the candidate observation point set, the candidate observation point closest to the second centroid P2 is determined as the theoretical observation point.

[0162] Step S913: R increases by 0.1 cm.

[0163] Specifically, when no candidate observation point exists in the candidate observation point set, the radius R of the sphere is increased in steps of 0.1 cm, and step S903 is executed repeatedly until a theoretical observation point is determined.

[0164] Step S914: End.

[0165] Specifically, when the radius of the sphere is greater than or equal to 3 cm, or after the theoretical observation point is determined, the process of determining the theoretical observation point is terminated.

[0166] In some embodiments, obtaining surgical space information through an optical tracking system may include the following steps:

[0167] Step 1: Obtain the relative posture information between the surgical space and the end of the surgical execution arm, the first posture information of the end of the surgical execution arm in the surgical execution arm coordinate system, and the reference posture of the end of the surgical execution arm in the optical tracking system coordinate system.

[0168] Step 2: Determine the surgical space information based on the coordinate transformation relationship between the relative posture information, the first posture information, and the reference posture of the execution arm.

[0169] For example, during the spatial registration process of the optical tracking system, the surgical space is a configurable virtual space, and the surgical site is located in the surgical space. Once the surgical space is configured, the relative position relationship between the surgical site and the end of the surgical arm is also fixed. The relative position information between the surgical site and the end of the surgical arm can be recorded as: In addition, according to the kinematic principle of the surgical execution arm, the first position information of the end of the surgical execution arm in the surgical execution arm coordinate system can be determined, which is recorded as:

[0170]

[0171] When the optical tracking system is in the initial position, it can obtain the reference position of the surgical arm in the optical navigator coordinate system, which is recorded as:

[0172] Furthermore, the coordinate transformation relationship between the relative posture information, the first posture information and the reference posture of the execution arm is used to determine the surgical space information in the optical tracking system coordinate system. Specifically, the surgical space information can be determined by the following expression:

[0173]

[0174] In the above implementation process, the surgical space information is determined through the relative posture information between the surgical space and the end of the surgical execution arm, and based on the coordinate conversion relationship between the relative posture information, the first posture information of the end of the surgical execution arm in the surgical execution arm coordinate system and the reference posture of the execution arm, thereby improving the accuracy of the determination of the surgical space information.

[0175] In some embodiments, adjusting the pose of the optical tracking system to the target pose based on the theoretical observation point may include the following steps:

[0176] Step 1: Determine the target posture of the optical tracking system based on the theoretical observation point, the preset angle between the optical path direction of the optical tracking system and the posture information of the surgical execution arm, and the preset field of view.

[0177] Step 2: Adjust the pose of the optical tracking system to the target pose.

[0178] For example, since there can be countless straight lines passing through a certain point in space, that is, when the position of the theoretical observation point is determined, there can be countless light paths passing through the theoretical observation point. Therefore, in order to accurately determine the light path direction of the optical tracking system, and then accurately determine the posture information of the optical tracking system, the preset angle between the light path direction of the optical tracking system and the posture of the surgical execution arm can be set in advance.

[0179] As an example, the preset angle can be the angle between the optical path direction of the optical tracking system and the normal vector of the surgical execution arm posture. The preset angle can be 45 degrees, 0 degrees, or other angles, and there is no limitation here.

[0180] Specifically, the optical path direction of the optical tracking system is determined based on the theoretical observation point and the preset angle between the optical path direction of the optical navigator and the posture of the surgical execution arm. Then, based on the optical path direction, the theoretical observation point and the field of view of the optical tracking system, the target posture of the optical tracking system can be accurately determined.

[0181] Furthermore, the optical navigator is adjusted from an initial position to a target position, thereby achieving adjustment of the surgical field of view based on the optical navigation system.

[0182] In the above implementation process, the optical path direction of the optical tracking system can be determined based on the theoretical observation point and the preset angle between the optical path direction of the optical tracking system and the posture of the surgical execution arm, and then the target posture of the optical tracking system can be determined based on the optical path direction, the theoretical observation point and the field of view of the optical tracking system, thereby improving the accuracy of the target posture determination.

[0183] In some embodiments, the optical tracking system includes an optical navigator and a navigation cart. The optical navigator is disposed on the navigation cart and is used to obtain a surgical field of view. The navigation cart is used to carry the optical navigator. The target posture of the optical tracking system includes a target position and a target posture of the optical navigator. Adjusting the optical tracking system to the target posture may include the following steps:

[0184] Step 1: Determine the target position of the navigation cart based on the target position and the relative position information between the optical navigation device and the navigation cart.

[0185] Step 2: Control the navigation cart to move to the cart target position so that the optical navigation device is at the target position.

[0186] Step 3: When the navigation cart is at the cart target position, adjust the optical navigation system to the target posture.

[0187] For example, Figure 10 is a schematic diagram of an optical tracking system provided in an embodiment of the present application, such as Figure 10 The optical tracking system shown includes an optical navigator and a navigation cart. The optical navigator can be placed on the navigation cart and used to obtain the surgical field of view. The movement of the navigation cart can carry the optical navigator with it, and the optical navigator can maintain different postures on the navigation cart. For example, the camera of the optical navigator can face up, down, left, and right. When adjusting the position of the optical navigator, it is necessary not only to adjust the position of the optical navigator but also the posture of the optical navigator. That is, the target posture includes the target position and target posture of the optical navigator.

[0188] Since the optical navigation device is set on the navigation cart, the change of the position of the optical navigation device can be achieved through the navigation cart, and the relative position between the optical navigation device and the navigation cart is fixed. Therefore, the cart target position of the navigation cart can be determined according to the relative position between the optical navigation device and the navigation cart and the target position, and then the navigation cart can be controlled to move to the cart target position, so that when the navigation cart is at the cart target position, the optical navigation device is at the target position.

[0189] Furthermore, when the navigation cart is at the cart target position, the optical navigation device is adjusted to the target posture, thereby achieving adjustment of the optical navigation device's posture.

[0190] In the above implementation process, the target position of the navigation cart is determined based on the target position and the relative position information between the optical navigation device and the navigation cart, and the navigation cart is controlled to move to the target position, so that the optical navigation device is at the target position. Furthermore, the optical navigation device is adjusted to the target posture, thereby realizing the adjustment of the position and posture of the optical navigation device.

[0191] In some embodiments, controlling the navigation cart to move to a cart target location includes:

[0192] Step 1: Determine the theoretical posture information of the surgical execution arm in the optical tracking system coordinate system based on the theoretical observation point. The theoretical posture information includes the theoretical position.

[0193] Step 2: Control the movement of the navigation cart and obtain the real-time position of the surgical execution arm through the optical navigator.

[0194] Step 3: When the error between the real-time position and the theoretical position of the surgical execution arm is less than or equal to a first preset error, the navigation cart moves to the cart target position.

[0195] For example, when the theoretical observation point of the optical tracking system is determined, the posture information of the surgical execution arm is also determined in the surgical field of view corresponding to the theoretical observation point, that is, the theoretical posture information of the surgical execution arm in the optical tracking system coordinate system can be determined based on the theoretical observation point, and the theoretical posture information includes the theoretical position.

[0196] Furthermore, after the target position of the navigation cart is determined, the navigation cart can be controlled to move to the target position. During the process of controlling the movement of the navigation cart, the real-time position of the surgical execution arm can be obtained through the optical navigator, and the real-time position is compared with the theoretical position. If the error between the real-time position of the surgical execution arm and the theoretical position is less than or equal to the first preset error, it can be determined that the navigation cart has moved to the target position.

[0197] If the error between the real-time position of the surgical execution arm and the theoretical position is greater than the first preset error, the movement trajectory of the navigation cart is replanned according to the current position of the navigation cart until the navigation cart moves to the cart target position.

[0198] In the above implementation process, when controlling the navigation cart to move to the cart target position, by comparing the real-time position of the surgical execution arm obtained by the optical navigator with the theoretical position of the surgical execution arm, it is possible to effectively determine whether the navigation cart has moved to the cart target position.

[0199] In some embodiments, the theoretical position information further includes a theoretical posture, and adjusting the optical navigator to the target posture includes:

[0200] Step 1: Control the optical navigator to adjust the posture, and after the optical navigator adjusts the posture, obtain the real-time posture of the surgical execution arm through the optical navigator.

[0201] Step 2: When the error between the real-time posture of the surgical execution arm and the theoretical posture is less than or equal to a second preset error, the optical navigator is adjusted to the target posture.

[0202] Exemplarily, the theoretical position information of the surgical execution arm in the optical tracking system coordinate system may also include a theoretical posture. When the navigation cart moves to the cart target position, the optical navigator may be controlled to adjust the posture to the theoretical posture. After the optical navigator adjusts the posture, the real-time posture of the surgical execution arm is obtained through the optical navigator.

[0203] Furthermore, the error between the real-time posture of the surgical execution arm and the theoretical posture is determined. When the error between the real-time posture of the surgical execution arm and the theoretical posture is less than or equal to a second preset error, it indicates that the optical navigator is adjusted to the target posture.

[0204] It should be noted that the first preset error and the second preset error may be the same or different, and the values ​​of the first preset error and the second preset error may be 0.01, 0.02, or other values, which are not limited here.

[0205] In the above implementation process, when the posture of the optical navigator is adjusted, the real-time posture of the surgical execution arm is obtained through the optical navigator. When the error between the real-time posture of the surgical execution arm and the theoretical posture is less than the second preset error, it indicates that the optical navigator has moved to the target posture, thereby realizing accurate adjustment of the optical navigator's posture.

[0206] Specifically, once the theoretical observation point of the surgical field of view is determined, the posture information of the surgical execution arm in the surgical field of view is also determined. The theoretical posture information of the surgical execution arm in the surgical field of view corresponding to the theoretical observation point is determined. The theoretical posture information of the surgical execution arm is also the posture information of the registration array, which is recorded as: Furthermore, the theoretical position information of the surgical execution arm is based on the optical tracking system coordinate system as a reference, wherein the theoretical position information of the surgical execution arm may include the theoretical position: And the theoretical stance:

[0207] Furthermore, when controlling the movement of the navigation cart, a reference coordinate system can be selected for motion control of the optical tracking system. This reference coordinate system can be the optical tracking system coordinate system or the coordinate system of the surgical arm, without limitation. Taking the coordinate system of the surgical arm as an example, the position information of the surgical arm can be converted from the optical tracking system coordinate system to the surgical arm coordinate system.

[0208] Specifically, the mechanical structure of the surgical arm is usually fixed. Therefore, the position of the registration array in the surgical arm coordinate system can be determined by using the current joint angle of the surgical arm and theoretical forward kinematics, which is expressed as: Moreover, the optical navigation device is installed on the navigation cart, that is, the relative position between the optical navigation device and the navigation cart is fixed, which can be expressed as: The optical navigator has a certain degree of freedom on the navigation cart, and can be controlled to adjust the optical navigator to different postures.

[0209] Therefore, the array's position can be registered according to the optical tracking system coordinate system. And the position of the registration array in the surgical arm coordinate system Determine the position of the optical navigator in the surgical arm coordinate system: The specific formula is as follows:

[0210]

[0211] In addition, the position of the optical navigation device Can include optical navigator attitude

[0212] Furthermore, the position of the optical navigator can be and the relative position between the optical navigation device and the navigation cart Determine the target position of the navigation cart in the surgical arm coordinate system The specific formula is as follows:

[0213]

[0214] When the coordinate system of the surgical arm is determined, the position of the optical navigator and the cart target position of the navigation cart After that, the optical navigation system can be controlled to adjust the attitude.

[0215] Specifically, Figure 11 This is a flow chart of an optical navigation system posture adjustment provided by an embodiment of the present application, such as Figure 11 The flowchart shown includes:

[0216] Step S111: determining the target position of the navigation cart based on the posture information of the optical navigation system.

[0217] Specifically, the position of the optical navigator can be and the relative position between the optical navigation device and the navigation cart Determine the target position of the navigation cart in the surgical arm coordinate system

[0218]

[0219] Step S112: Generate a navigation cart motion instruction according to the current cart position and the cart target position of the navigation cart.

[0220] Furthermore, the server can generate navigation cart movement instructions based on the navigation cart's current position and target position, and send the navigation cart movement instructions to the navigation cart. As an example, the server can be a backend processing center or a processor installed on the surgical cart, without limitation.

[0221] Step S113: Execute the navigation cart movement instruction.

[0222] Then, the navigation cart receives the navigation cart movement instruction sent by the server and moves according to the navigation cart movement instruction, that is, moves the navigation cart to the cart target position.

[0223] Step S114: Execution result of navigation cart movement instruction.

[0224] Furthermore, after the navigation cart moves, the execution result of the navigation cart movement instruction is fed back to the server.

[0225] Step S115: The optical navigator obtains the actual position of the registration array.

[0226] Specifically, after the navigation cart feeds back the execution result of the navigation cart motion instruction to the server, the server controls the optical navigation device to obtain the actual position of the registration array, which can be recorded as:

[0227] Step S116: Determine whether the actual position of the registration array is consistent with the theoretical position.

[0228] When the optical navigator obtains the actual position of the registration array, it is determined that the optical navigator obtains the actual position of the registration array and theoretical position Is it consistent? If the actual position of the registered array and theoretical position If the actual position of the registration array is inconsistent, then the steps S112 to S115 are executed in a loop; and theoretical position If they are consistent, execute step S117.

[0229] Step S117: Generate a navigation cart stop movement instruction.

[0230] Specifically, when the actual position of the registration array is consistent with the theoretical position, the server generates a navigation cart stop movement instruction and sends the navigation cart stop movement instruction to the navigation cart.

[0231] Step S118: Execute the navigation cart stop movement instruction.

[0232] Step S119: Feedback the execution result of the navigation cart stop movement instruction.

[0233] After receiving the navigation cart stop movement instruction, the navigation cart stops moving and feeds back to the server an execution result indicating that the navigation cart stop movement instruction has been successfully executed.

[0234] Step S120: Determine the attitude of the optical navigation device.

[0235] Specifically, the array's position can be registered according to the optical tracking system coordinate system. And the position of the registration array in the surgical arm coordinate system Determine the position of the optical navigator in the surgical arm coordinate system: The pose of the optical navigator Can include optical navigator attitude Optical navigator attitude This is the target posture.

[0236] Step S121: generating a posture adjustment instruction of the optical navigation system according to the current posture of the optical navigation system and the target posture.

[0237] Furthermore, after receiving the result of executing the navigation cart's stop motion instruction, the server generates an attitude adjustment instruction for the optical navigation device according to the current attitude and target attitude of the optical navigation device, and sends the attitude adjustment instruction to the navigation cart. The attitude adjustment instruction is used to adjust the attitude of the optical navigation device to the target attitude.

[0238] Step S122: executing the attitude adjustment instruction of the optical navigation device.

[0239] After receiving the attitude adjustment instruction, the navigation cart controls the optical navigation device to execute the attitude adjustment instruction, thereby making the optical navigation device move to the target attitude.

[0240] Step S123: the execution result of the attitude adjustment instruction of the optical navigation device.

[0241] Furthermore, when the optical navigation device executes the posture adjustment instruction, the navigation cart feeds back the execution result of the posture adjustment instruction of the optical navigation device to the server.

[0242] Step S124: The optical navigator obtains the actual posture of the registration array.

[0243] Specifically, when the navigation cart feeds back the execution result of the navigator's attitude adjustment instruction to the server, the server controls the optical navigator to obtain the actual attitude of the registration array, which can be recorded as:

[0244] Step S125: Determine whether the actual posture of the registration array is consistent with the theoretical posture.

[0245] Then, the server determines the actual posture of the registered array and theoretical stance Is it consistent? If the actual posture of the registered array and theoretical stance If the actual posture of the registration array is consistent, then step S126 is executed. and theoretical stance If not, the process returns to step S121 and loops through steps S121 to S125.

[0246] Step S126: Generate an optical navigation device stop motion instruction.

[0247] When the actual posture of the registered array is consistent with the theoretical posture, the server generates a stop motion instruction for the optical navigation device and sends the stop motion instruction to the navigation cart.

[0248] Step S127: Execute the optical navigation device stop motion instruction.

[0249] Step S128: Feedback the execution result of the optical navigation system stop motion instruction.

[0250] After receiving the stop movement instruction from the optical navigation system, the navigation cart controls the optical navigation system to stop moving and feeds back to the server the result that the optical navigation system stops moving and maintains the target posture.

[0251] Step S129: End.

[0252] Figure 12 FIG. 1 is a schematic diagram of a surgical field of view of an optical navigation system provided in an embodiment of the present application when the optical navigation system is in a target posture. Figure 12 As shown, the field of view of the optical navigation system includes the cart array, the registration array, and the surgical space. The optimal viewing point in the surgical field of view is the theoretical observation point.

[0253] It should be noted that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0254] This embodiment also provides a surgical field of view adjustment device based on an optical navigation system. This device is used to implement the above-mentioned embodiments and preferred implementations, and details already described will not be repeated. The terms "module," "unit," "subunit," etc. used below may refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0255] Figure 13 This is a structural block diagram of a surgical field of view adjustment device based on an optical navigation system provided in an embodiment of the present application. The device can be used to automatically adjust the surgical field of view of a surgical robot system. The surgical robot system includes a surgical execution arm and an optical tracking system, such as Figure 13 As shown, the device includes:

[0256] An acquisition module 131 is configured to acquire multiple sets of marking information and surgical space information through an optical tracking system; the marking information includes first marking point information for marking the posture information of the surgical execution arm;

[0257] a determination module 132, configured to determine a theoretical observation point of the optical tracking system based on the first marker information and the surgical space information;

[0258] The posture adjustment module 133 is used to adjust the posture of the optical tracking system to a target posture according to the theoretical observation point, so that the theoretical observation point is at the center of the surgical field of view.

[0259] In some embodiments, the determination module 132 is specifically configured to:

[0260] determining a first envelope space including first marker information and surgical space information;

[0261] Based on the first envelope space and the preset field of view, a theoretical observation point of the optical tracking system is determined.

[0262] In some embodiments, the surgical robot system further includes a surgical cart for placing the surgical execution arm, and the marking information further includes second marking point information for marking the posture information of the surgical cart. The determination module 132 is specifically configured to:

[0263] determining a second envelope space including the second marking point information, the first marking point information, and the surgical space information;

[0264] Based on the first envelope space, the second envelope space and the preset field of view, a theoretical observation point of the optical tracking system is determined.

[0265] In some embodiments, the determination module 132 is specifically configured to:

[0266] Determining a target reference space volume based on a first centroid of the first envelope space;

[0267] Each point on the surface of the target reference space body is used as a test observation point;

[0268] Determine the test field of view space based on the test observation point and the preset field of view range;

[0269] Traversing all test observation points, determining the test observation points corresponding to the second envelope space in the test field of view space as candidate observation points, until all test observation points are traversed to obtain a set of candidate observation points;

[0270] In the candidate observation point set, the candidate observation point corresponding to the minimum distance between the candidate observation point and the second centroid of the second envelope space is determined as the theoretical observation point.

[0271] In some embodiments, the determination module 132 is specifically configured to:

[0272] determining an initial reference space volume based on the first centroid and the initial range;

[0273] Determine whether there are alternative observation points on the initial reference space;

[0274] If there are alternative observation points on the initial reference space body, the initial reference space body is determined as the target reference space body;

[0275] If there is no alternative observation point on the initial reference space body, the initial range is adjusted with a preset step size to obtain an adjusted reference space body;

[0276] The above steps of obtaining the adjusted reference space volume are repeated until a candidate observation point appears on the adjusted reference space volume for the first time, and the adjusted reference space volume corresponding to the candidate observation point that appears for the first time is determined as the target reference space volume.

[0277] In some embodiments, the acquisition module 131 is specifically configured to:

[0278] Obtaining the relative posture information between the surgical space and the end of the surgical execution arm, the first posture information of the end of the surgical execution arm in the surgical execution arm coordinate system, and the reference posture of the end of the surgical execution arm in the optical tracking system coordinate system;

[0279] The surgical space information is determined based on the coordinate transformation relationship between the relative posture information, the first posture information and the reference posture of the execution arm.

[0280] In some embodiments, the posture adjustment module 133 is specifically configured to:

[0281] Determine the target posture of the optical tracking system based on the theoretical observation point, the preset angle between the optical path direction of the optical tracking system and the posture information of the surgical execution arm, and the preset field of view range;

[0282] Adjust the pose of the optical tracking system to the target pose.

[0283] In some embodiments, the optical tracking system includes an optical navigator and a navigation cart. The optical navigator is disposed on the navigation cart and is used to obtain a surgical field of view. The navigation cart is used to carry the optical navigator. The target posture of the optical tracking system includes a target position and a target posture of the optical navigator. The posture adjustment module 133 is specifically used to:

[0284] Determining a cart target position of the navigation cart based on the target position and relative position information between the optical navigation device and the navigation cart;

[0285] Controlling the navigation cart to move to the cart target position so that the optical navigation device is at the target position;

[0286] When the navigation cart is at the cart target position, the optical navigation device is adjusted to the target attitude.

[0287] In some embodiments, the posture adjustment module 133 is specifically configured to:

[0288] Determining theoretical posture information of the surgical execution arm in the optical tracking system coordinate system based on the theoretical observation point, the theoretical posture information including the theoretical position;

[0289] Control the movement of the navigation cart and obtain the real-time position of the surgical execution arm through the optical navigator;

[0290] When the error between the real-time position and the theoretical position of the surgical execution arm is less than or equal to a first preset error, the navigation cart moves to the cart target position.

[0291] In some embodiments, the posture adjustment module 133 is specifically configured to:

[0292] controlling the optical navigator to adjust the posture, and obtaining the real-time posture of the surgical execution arm through the optical navigator after the optical navigator adjusts the posture;

[0293] When the error between the real-time posture of the surgical execution arm and the theoretical posture is less than or equal to a second preset error, the optical navigator is adjusted to the target posture.

[0294] It should be noted that the above modules can be functional modules or program modules, and can be implemented through software or hardware. For modules implemented through hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0295] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 14 As shown, Figure 14 1 is a schematic diagram of the internal structure of a computer device provided in an embodiment of the present application. The computer device includes a processor, a memory, and a network interface connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the computer device is used to store data. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a surgical field adjustment method based on an optical navigation system is implemented.

[0296] Those skilled in the art will understand that Figure 14 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0297] In one embodiment, an electronic device is further provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above method embodiments when executing the computer program.

[0298] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0299] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0300] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, and the like.

[0301] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0302] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of patent protection. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A surgical field adjustment method based on an optical tracking system, characterized in that: The method is applied to automatically adjust the surgical field of view of a surgical robot system, wherein the surgical robot system includes a surgical execution arm and an optical tracking system, and the method includes: Acquire multiple sets of marking information and surgical space information through the optical tracking system; the marking information includes first marking point information for marking the posture information of the surgical execution arm; determining a theoretical observation point of the optical tracking system according to the first marking point information and the surgical space information; The position of the optical tracking system is adjusted to a target position according to the theoretical observation point, so that the theoretical observation point is at the center of the surgical field of view.

2. The method for adjusting the surgical field of view based on an optical tracking system according to claim 1, wherein: Determining the theoretical observation point of the optical tracking system according to the first marking point information and the surgical space information includes: determining a first envelope space including the first marker information and the surgical space information; Based on the first envelope space and a preset field of view, a theoretical observation point of the optical tracking system is determined.

3. The method for adjusting the surgical field of view based on an optical tracking system according to claim 2, wherein: The surgical robot system further includes a surgical cart for placing the surgical execution arm. The marking information further includes second marking point information for marking the position information of the surgical cart. Determining the theoretical observation point of the optical tracking system based on the first envelope space and a preset field of view includes: determining a second envelope space including the second marker point information, the first marker point information, and the surgical space information; Based on the first envelope space, the second envelope space and the preset field of view, a theoretical observation point of the optical tracking system is determined.

4. The method for adjusting the surgical field of view based on an optical tracking system according to claim 3, wherein: The determining of the theoretical observation point of the optical tracking system based on the first envelope space, the second envelope space, and the preset field of view includes: determining a target reference space volume based on a first centroid of the first envelope space; Each point on the surface of the target reference space body is used as a test observation point; Determining a test field of view space based on the test observation point and the preset field of view range; Traversing all test observation points, determining the test observation points corresponding to the second envelope space in the test field of view space as candidate observation points, until all test observation points are traversed to obtain a set of candidate observation points; In the candidate observation point set, the candidate observation point corresponding to the minimum distance between the candidate observation point and the second centroid of the second envelope space is determined as the theoretical observation point.

5. The method for adjusting the surgical field of view based on an optical tracking system according to claim 4, wherein: The determining of the target reference space volume based on the first centroid of the first envelope space includes: determining an initial reference space volume based on the first centroid and the initial range; Determining whether there is an alternative observation point on the initial reference space body; If there is an alternative observation point on the initial reference space volume, determining the initial reference space volume as the target reference space volume; If no candidate observation point exists on the initial reference space volume, adjusting the initial range by a preset step size to obtain an adjusted reference space volume; The above steps of obtaining the adjusted reference space volume are repeated until a candidate observation point appears on the adjusted reference space volume for the first time, and the adjusted reference space volume corresponding to the candidate observation point that appears for the first time is determined as the target reference space volume.

6. The method for adjusting the surgical field of view based on an optical tracking system according to claim 1, wherein: The obtaining of surgical space information by the optical tracking system includes: Acquire the relative posture information between the surgical space and the end of the surgical execution arm, the first posture information of the end of the surgical execution arm in the surgical execution arm coordinate system, and the execution arm reference posture of the end of the surgical execution arm in the optical tracking system coordinate system; The surgical space information is determined based on the coordinate transformation relationship between the relative posture information, the first posture information, and the reference posture of the execution arm.

7. The method for adjusting the surgical field of view based on an optical tracking system according to claim 1, wherein: The adjusting the pose of the optical tracking system to a target pose according to the theoretical observation point includes: Determining a target posture of the optical tracking system based on the theoretical observation point, a preset angle between the optical path direction of the optical tracking system and the posture information of the surgical execution arm, and the preset field of view range; The pose of the optical tracking system is adjusted to the target pose.

8. The method for adjusting the surgical field of view based on an optical tracking system according to claim 7, wherein: The optical tracking system includes an optical navigator and a navigation cart, wherein the optical navigator is disposed on the navigation cart and is used to acquire a surgical field of view. The navigation cart is used to carry the optical navigator for movement. The target posture of the optical tracking system includes a target position and a target posture of the optical navigator. Adjusting the posture of the optical tracking system to the target posture includes: Determining a cart target position of the navigation cart based on the target position and relative position information between the optical navigation device and the navigation cart; controlling the navigation cart to move to the cart target position so that the optical navigation device is at the target position; When the navigation cart is at the cart target position, the optical navigation device is adjusted to the target posture.

9. The method for adjusting the surgical field of view based on an optical tracking system according to claim 8, wherein: The controlling the navigation cart to move to the cart target position includes: Determining theoretical posture information of the surgical execution arm in the optical tracking system coordinate system based on the theoretical observation point, wherein the theoretical posture information includes a theoretical position; Controlling the movement of the navigation cart and obtaining the real-time position of the surgical execution arm through the optical navigator; When the error between the real-time position of the surgical execution arm and the theoretical position is less than or equal to a first preset error, the navigation cart moves to the cart target position.

10. The method for adjusting the surgical field of view based on an optical tracking system according to claim 9, wherein: The theoretical position information also includes a theoretical posture, and adjusting the optical navigator to the target posture includes: controlling the optical navigator to perform posture adjustment, and obtaining the real-time posture of the surgical execution arm through the optical navigator after the optical navigator performs posture adjustment; When the error between the real-time posture of the surgical execution arm and the theoretical posture is less than or equal to a second preset error, the optical navigator is adjusted to the target posture.

11. A surgical field adjustment device based on an optical tracking system, characterized in that: The device is used to automatically adjust the surgical field of view of a surgical robot system, wherein the surgical robot system includes a surgical execution arm and an optical tracking system. The device includes: An acquisition module, configured to acquire multiple sets of marking information and surgical space information through the optical tracking system; the marking information includes first marking point information for marking the posture information of the surgical execution arm; a determination module, configured to determine a theoretical observation point of the optical tracking system according to the first marking point information and the surgical space information; The posture adjustment module is used to adjust the posture of the optical tracking system to a target posture according to the theoretical observation point, so that the theoretical observation point is at the center of the surgical field of view.

12. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to execute the surgical field of view adjustment method based on an optical tracking system according to any one of claims 1 to 10.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for adjusting the surgical field of view based on an optical tracking system according to any one of claims 1 to 10 are implemented.

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