Rapid positioning method for mechanical arm of microsurgery robot based on light indication

Abstract

The invention discloses a method for quickly positioning mechanical arms of a microsurgical robot based on light indication, which realizes quick and accurate positioning of a surgical area by respectively arranging light emitters at the tail ends of two mechanical arms of the microsurgical robot. The emission direction of the light emitter is consistent with the movement direction of the surgical instrument, so that a clear light intersection can be formed in a surgical area to indicate an optimal surgical interval. The problems in the prior art are solved through the following technical characteristics that firstly, visual operation area indication is provided, and the frequency of adjusting a mechanical arm and an operation instrument by an operator is reduced; secondly, collision and mistaken injury risks possibly occurring when the position of a belt instrument is adjusted are avoided; and finally, through a modular design and an ambient light self-adaptive function, the adaptability and the practicability of the equipment are improved. The method can significantly improve the efficiency and safety of microsurgery, is suitable for various microsurgery scenes, and has a wide application prospect.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of microsurgery, in particular to a method for rapid positioning of a microsurgery robot mechanical arm based on light ray indication. BACKGROUND

[0002] In the field of microsurgery, surgical robots are increasingly widely used, which can provide precise operation in a very limited surgical area. However, there are some technical problems and limitations in the implementation of existing microsurgery robots.

[0003] During the operation of traditional microsurgery robots, the surgical area is usually very limited, which requires repeated position adjustment of the surgical mechanical arm and its end surgical instrument to ensure that the instrument end can accurately reach the optimal surgical interval. In order to assist the operator to adjust the instrument position, some markers are usually placed on the current surgical trolley to prompt the movement space of the instrument. However, this method has the following problems: Marker lack of intuitiveness: Since the surgical instrument is far away from the surgical trolley, the markers on the trolley are not intuitive enough, and the operator is prone to deviation when observing. This leads the operator to need multiple attempts and adjustments to position the instrument end to the ideal surgical position.

[0004] High adjustment risk: After installing the surgical instrument, the operator usually needs to constantly adjust the instrument position by observing the relative position of the instrument end and the patient. This adjustment method not only consumes time, but also the instrument end is prone to collision with other medical devices or accidental injury to the patient during the adjustment process, thereby increasing the risk of surgery.

[0005] Long adjustment time: The process of adjusting the position of the surgical instrument is usually tedious and takes a long time to complete. This not only prolongs the operation time, but also increases the risk of anesthesia for the patient.

[0006] Indication is not clear: The indication of the optimal working position of the surgical instrument in the existing technology is not clear and intuitive, which leads to low efficiency of the surgical team in adjusting the instrument position and potential risks of damaging equipment or injuring patients.

[0007] Therefore, there is an urgent need for a new technical solution that can provide clear and intuitive surgical area indication while reducing the risk and time consumption during the adjustment process of the surgical instrument to improve the operation efficiency and safety of the microsurgery robot. SUMMARY

[0008] To solve the above technical problems, the present application provides a method for rapid positioning of a microsurgery robot mechanical arm based on light ray indication.

[0009] The present application is realized by the following technical solutions: The application discloses a rapid positioning method for a microscopic surgery robot mechanical arm based on light indication, and the microscopic surgery robot is provided with two mechanical arms. The light emitters are installed, and one light emitter is arranged at the end of each of the two mechanical arms, and the emission direction of the light emitter is basically consistent with the movement direction of the surgical instrument connected to the end of the corresponding mechanical arm. Preliminary positioning, the two mechanical arms are moved to the target surgery area position, and it is ensured that the light intersection point of the two light emitters can enter the microscopic surgery area. Adjustment of the operating trolley or the mechanical arms, the light intersection point emitted by the light emitters is gradually close to the target surgery area by pushing the operating trolley or adjusting the posture of the two mechanical arms. Height adjustment, according to the relative positions of the light spots generated by the two mechanical arms, the heights of the two mechanical arms are adjusted respectively, so that the two light spots are completely overlapped, and at this time, the mechanical arms reach the predetermined optimal position. Installation of the instrument, after the light spots are overlapped, the light emitters are turned off, the surgical instrument is installed at the end of the mechanical arm, and the rapid positioning of the surgery mechanical arm is completed.

[0010] The method realizes rapid and accurate positioning of the mechanical arms by the close combination of the light emitters and the mechanical arms. The light intersection point is used as the positioning reference, and the positioning intuitiveness and convenience are greatly improved. In addition, the movement direction of the surgical instrument is considered, the cooperative operation of the mechanical arms and the surgical instrument in the positioning process is ensured, and the precision and efficiency of the surgery are further improved.

[0011] Further, the height adjustment includes the following steps: The two mechanical arms are divided into a left mechanical arm and a right mechanical arm according to actual positions. According to the relative positions of the light spots generated by the left mechanical arm and the right mechanical arm, the heights of the two mechanical arms are adjusted respectively. When the light spot of the left mechanical arm is located at the left side of the light spot of the right mechanical arm, the end position of the left mechanical arm is gradually increased, and the end position of the right mechanical arm is kept unchanged or decreased until the two light spots are completely overlapped. When the light spot of the left mechanical arm is located at the right side of the light spot of the right mechanical arm, the end position of the left mechanical arm is gradually decreased, and the end position of the right mechanical arm is kept unchanged or increased until the two light spots are completely overlapped. The above adjustment process is repeated until the two light spots are completely overlapped at the target surgery position, which indicates that the ends of the two mechanical arms reach the predetermined optimal height.

[0012] The height adjustment step is a key link in the method, by adjusting the height of the left and right mechanical arms respectively, the complete coincidence of the two light spots is realized. This adjustment method is not only simple and easy to operate, but also can accurately control the position of the mechanical arm, ensure the smooth progress of the operation. In addition, the method also adjusts and verifies repeatedly to ensure that the end of the mechanical arm reaches the predetermined optimal height, providing stable and reliable support for the operation.

[0013] Further, the two light emitters emit light of different colors, which are used to distinguish the light spots of the two mechanical arms; the colors include but are not limited to red, green, blue and yellow.

[0014] By emitting light of different colors, the light spots of the two mechanical arms can be intuitively distinguished, avoiding confusion in complex surgical environment. This design not only improves the intuitiveness of the operation, but also facilitates the quick identification and positioning of the mechanical arm by the doctor. In addition, the choice of multiple colors also provides more adaptability and flexibility for different surgical scenarios.

[0015] Further, the two light emitters emit light spots of the same shape; the shapes include circular, elliptical, square or rectangular. The light spots of the same shape help the doctor to quickly judge the positional relationship of the two mechanical arms visually, so as to more accurately adjust the height and posture of the mechanical arm. Whether it is circular, elliptical, square or rectangular, these regular shapes have good visual recognition, which helps to improve the positioning accuracy and efficiency of the operation.

[0016] Further, the two light emitters are laser emitters, and the installation angle and direction of the laser emitters are consistent with the movement direction of the surgical instrument connected to the end of the mechanical arm. Laser emitters have the characteristics of high brightness, high directivity and high monochromaticity, and can produce clear and stable light spots. Its installation angle and direction are consistent with the movement direction of the surgical instrument, ensuring that the light spot can accurately reflect the position and posture of the mechanical arm. This design not only improves the positioning accuracy, but also enhances the reliability and safety of the operation.

[0017] Further, the light emitters include an automatic focusing function, which can dynamically adjust the size and shape of the light spot according to the real-time needs of the surgical area to improve the accuracy of light spot positioning. The automatic focusing function can dynamically adjust the size and shape of the light spot according to the real-time needs of the surgical area, ensuring that the light spot is always focused on the target surgical position. This intelligent design greatly improves the accuracy of light spot positioning, reduces the tedious steps of manual adjustment, and improves the smoothness and efficiency of the operation.

[0018] Further, the light emitter includes an ambient light sensor and a light intensity adjustment module, which can dynamically adjust the brightness and intensity of the light according to the strength of the operating room ambient light, ensuring that the light spot is clearly visible in complex lighting environments.

[0019] The ambient light sensor can detect the strength of the operating room ambient light in real time, and the light intensity adjustment module can dynamically adjust the brightness and intensity of the light according to the detection results. This design ensures that the light spot is always clearly visible in complex lighting environments, avoiding the interference of ambient light on surgical positioning. At the same time, it also provides a more comfortable and stable visual environment for doctors, which helps to improve the quality and safety of surgery.

[0020] Further, the light emitter is modularly designed, allowing quick replacement of different types of emitting modules, including light source modules of different wavelengths and light spot shape modules, to adapt to different surgical scene requirements.

[0021] Modular design allows the light emitter to quickly replace different types of emitting modules, including light source modules of different wavelengths and light spot shape modules. This flexible design allows the microsurgery robot to adapt to different surgical scene requirements, improving the versatility and expandability of the device. At the same time, modular design also facilitates the maintenance and upgrade of the device, reducing the cost of use.

[0022] The beneficial effects of the present application are: Accurate indication of the surgical area: through the accurate indication of the light emitter, the present application can clearly identify the optimal surgical area, facilitating the operator to quickly adjust the device position, ensuring that the surgical instrument can accurately reach the predetermined position, thereby improving the accuracy and efficiency of the surgery.

[0023] Reducing preoperative preparation time: since the light emitter can indicate the surgical area immediately, the present application method does not need to install surgical instruments in advance, which not only reduces the preoperative preparation time, but also reduces the risk of damage caused by installing instruments in advance.

[0024] Improving surgical safety: avoiding the installation of instruments in advance reduces the number of contacts between surgical instruments and patient tissue, thereby reducing the potential harm of instruments to patient tissue and improving the safety of surgery.

[0025] Improving surgical efficiency: through the characteristics of fast positioning and no need to install instruments in advance, the present application significantly improves the efficiency of the surgical process, shortens the operation time, and is beneficial to improve the turnover rate of the operating room and patient satisfaction.

[0026] Optimizing the surgical operation experience: clear indication of the surgical area and simplified preoperative preparation process provide a more convenient and intuitive surgical operation experience for operators, reducing the workload of medical personnel.

[0027] Reducing medical costs: reducing instrument damage and surgery preparation time, helping to reduce medical costs and improve the utilization efficiency of medical resources.

[0028] Improving patient recovery after surgery: due to the accuracy of surgical positioning and the reduction of potential harm to patients, the invention helps patients recover faster after surgery and reduces the occurrence of postoperative complications.

[0029] Through the above beneficial effects, the invention not only optimizes the operation process of the microsurgery robot, but also improves the overall safety and efficiency of the surgery, bringing important technical progress to the medical field. DETAILED DESCRIPTION

[0030] The invention will be further described below in conjunction with specific embodiments: Embodiment: Light ray indication-based microsurgery robot mechanical arm rapid positioning method, the above-mentioned microsurgery robot is provided with two mechanical arms, and the above-mentioned method comprises the following steps: Installation of light ray emitter, one light ray emitter is arranged at the end of each of the two mechanical arms, and the emission direction of the light ray emitter is substantially consistent with the movement direction of the surgical instrument connected to the end of the corresponding mechanical arm; Preliminary positioning, move the two mechanical arms to the target surgical area position to ensure that the intersection point of the light rays of the two light ray emitters can enter the microsurgery area; Adjustment of the operating table or the mechanical arm, gradually move the intersection point of the light rays emitted by the light ray emitters closer to the target surgical area by pushing the operating table or adjusting the posture of the two mechanical arms; Height adjustment, according to the relative positions of the two light spots generated by the two mechanical arms, respectively adjust the heights of the two mechanical arms to make the two light spots completely coincide, at this time the mechanical arm reaches the predetermined optimal position; Installation of instrument, after the light spots coincide, turn off the light ray emitters, install the surgical instrument at the end of the mechanical arm, and complete the rapid positioning of the surgical mechanical arm.

[0031] This method uses the close combination of light ray emitters and mechanical arms to achieve rapid and accurate positioning of the mechanical arm. By using the intersection point of the light rays as a positioning reference, the intuitiveness and convenience of positioning are greatly improved. In addition, this method also considers the movement direction of the surgical instrument to ensure the cooperation of the mechanical arm and the surgical instrument during positioning, further improving the accuracy and efficiency of the surgery.

[0032] The height adjustment comprises the following steps: Divide the two mechanical arms into a left mechanical arm and a right mechanical arm according to the actual positions; According to the relative positions of the light spots generated by the left and right mechanical arms, the heights of the two mechanical arms are adjusted respectively: When the light spot of the left mechanical arm is located to the left of the light spot of the right mechanical arm, the end position of the left mechanical arm is gradually raised while keeping the end position of the right mechanical arm unchanged or lowering it until the two light spots completely coincide; When the light spot of the left mechanical arm is located to the right of the light spot of the right mechanical arm, the end position of the left mechanical arm is gradually lowered while keeping the end position of the right mechanical arm unchanged or raising it until the two light spots completely coincide; The above adjustment process is repeated until the two light spots completely coincide at the target surgical position, indicating that the ends of the two mechanical arms have reached the predetermined optimal height.

[0033] The height adjustment step is a key link in this method. By adjusting the heights of the left and right mechanical arms respectively, the complete coincidence of the two light spots is achieved. This adjustment method is not only simple and easy to implement, but also can accurately control the position of the mechanical arm, ensuring the smooth progress of the surgery. In addition, this method also ensures that the end of the mechanical arm reaches the predetermined optimal height through repeated adjustment and verification, providing stable and reliable support for the surgery.

[0034] The above two light emitters emit light of different colors, which are used to distinguish the light spots of the two mechanical arms; the above colors include but are not limited to red, green, blue and yellow.

[0035] By emitting light of different colors, the light spots of the two mechanical arms can be visually distinguished, avoiding confusion in complex surgical environments. This design not only improves the intuitiveness of the surgery, but also facilitates the quick identification and positioning of the mechanical arm by the doctor. In addition, the choice of multiple colors also provides more adaptability and flexibility for different surgical scenarios.

[0036] The light spots emitted by the above two light emitters are of the same shape; the above shape includes a circle, an ellipse, a square or a rectangle. The same shape of the light spot helps the doctor to quickly judge the positional relationship of the two mechanical arms visually, so as to more accurately adjust the height and posture of the mechanical arm. Whether it is a circle, an ellipse, a square or a rectangle, these regular shapes have good visual recognition, which helps to improve the positioning accuracy and efficiency of the surgery.

[0037] The two light emitters mentioned above are laser emitters, and their installation angle and direction are consistent with the movement direction of the surgical instrument connected to the end of the mechanical arm. Laser emitters have the characteristics of high brightness, high directivity and high monochromaticity, and can produce clear and stable light spots. The installation angle and direction are consistent with the movement direction of the surgical instrument, ensuring that the light spot can accurately reflect the position and attitude of the mechanical arm. This design not only improves the accuracy of positioning, but also enhances the reliability and safety of the operation.

[0038] The light emitters mentioned above include an automatic focusing function, which can dynamically adjust the size and shape of the light spot according to the real-time needs of the surgical area, to improve the accuracy of light spot positioning. The automatic focusing function can dynamically adjust the size and shape of the light spot according to the real-time needs of the surgical area, ensuring that the light spot is always focused on the target surgical position. This intelligent design greatly improves the accuracy of light spot positioning, reduces the cumbersome steps of manual adjustment, and improves the smoothness and efficiency of the operation.

[0039] The light emitters mentioned above include an ambient light sensor and a light intensity adjustment module, which can dynamically adjust the brightness and intensity of the light according to the strength of the operating room ambient light, to ensure that the light spot is clearly visible in complex lighting environments.

[0040] The ambient light sensor can detect the strength of the operating room ambient light in real time, and the light intensity adjustment module can dynamically adjust the brightness and intensity of the light according to the detection results. This design ensures that the light spot is always clearly visible in complex lighting environments, avoiding the interference of ambient light on surgical positioning. At the same time, it also provides a more comfortable and stable visual environment for the doctor, which helps to improve the quality and safety of the operation.

[0041] The automatic adjustment details of the ambient light sensor and the light intensity adjustment module are as follows: Ambient light detection: The ambient light sensor monitors the lighting intensity in the operating room in real time and transmits the data to the light intensity adjustment module.

[0042] Dynamic adjustment: According to the data provided by the ambient light sensor, the light intensity adjustment module automatically adjusts the output power of the laser emitter. For example, when the ambient light intensity increases, the module will increase the brightness of the laser, and vice versa.

[0043] Feedback mechanism: The system forms a closed-loop feedback system by comparing the preset light intensity standard with the actual emitted light intensity, ensuring the stability of the light spot brightness.

[0044] Abnormal situation handling: Excessive ambient light: When the ambient light intensity exceeds the monitoring range of the sensor, the system will automatically switch to maximum brightness output and issue a warning to the surgical team to take light shielding measures.

[0045] Sensor Failure: If the ambient light sensor fails, the system will default to a preset safe brightness output and alert the surgical team to check the sensor.

[0046] Light Intensity Adjustment Abnormality: If the adjustment module cannot properly adjust the light intensity, the system will lock the current settings and prompt manual adjustment or module replacement.

[0047] Emergency Stop: In any abnormal situation, the surgical team can immediately turn off the laser emitter through the emergency stop button to ensure surgical safety.

[0048] The above light emitter is modularly designed, allowing quick replacement of different types of emission modules, including different wavelength light source modules and different spot shape modules, to adapt to different surgical scene requirements.

[0049] Modular design allows the light emitter to quickly replace different types of emission modules, including different wavelength light source modules and different spot shape modules. This flexible design allows the microsurgery robot to adapt to different surgical scene requirements, improving the device's versatility and expandability. At the same time, modular design also facilitates device maintenance and upgrades, reducing usage costs.

[0050] In the modular design, the replacement steps of the light emitter are as follows: Turn off the power: First, make sure the microsurgery robot is in the off state to avoid accidental start-up when replacing the module.

[0051] Remove the old module: Use special tools to gently remove the existing light emitter module. Usually, the module will have an unlocking or releasing mechanism that allows the operator to easily remove it from the end of the robotic arm.

[0052] Install the new module: Choose the appropriate emission module, which may be a different wavelength light source module or a different spot shape module depending on surgical needs. Align the new module with the interface at the end of the robotic arm, ensuring that the module and interface connection parts are aligned. Gently push the new module in until you hear or feel the locking mechanism in place, indicating that the module has been properly installed.

[0053] Calibrate the module: Turn on the microsurgery robot and enter calibration mode. According to the system prompt, adjust the new module to ensure that its emission direction is consistent with the movement direction of the surgical instrument.

[0054] Test verification: Test in a patient-free environment to verify that the new module functions properly and the spot reaches the expected accuracy.

[0055] Repeat calibration: After replacing the module, perform multiple calibrations to ensure the accuracy of the emitter light.

[0056] In summary, the method implements the following steps: First, install a light emitter on the end of each of the two robotic arms. The light emitter uses a miniaturized, high-precision laser emitter, and its emission direction is adjusted to ensure that it is roughly aligned with the movement direction of the surgical instrument connected to the end of the corresponding robotic arm. During installation, a dedicated fixing device is used to securely fix the light emitter on the end of the robotic arm to prevent displacement during surgery.

[0057] The operator moves the two robotic arms to the target surgical area using the control system. In this process, the light emitters are turned on, and the positions of the two light spots in space are observed. By adjusting the xyz coordinates of the robotic arms, the intersection point of the light emitted by the two light emitters can be brought into the microscopic surgical area. During the preliminary positioning stage, the operator can make rough adjustments based on the positions of the light spots to roughly align the intersection point of the light spots with the target surgical position.

[0058] Based on the preliminary positioning, the intersection point of the light emitted by the light emitters is gradually brought closer to the target surgical area by pushing the surgical trolley or adjusting the posture of the two robotic arms. During the adjustment process, the operator can observe the movement trajectory of the light spots in the microscopic surgical area, and by fine-tuning the angles and positions of the robotic arms, the intersection point of the light spots can be accurately aligned with the target surgical position. This step may need to be iterated multiple times until the desired positioning accuracy is achieved.

[0059] Based on the relative positions of the light spots generated by the left and right robotic arms, the heights of the two robotic arms are adjusted. For example, when the light spot of the left robotic arm is located above the light spot of the right robotic arm, the height of the left robotic arm is lowered by the control system, and the height of the right robotic arm may need to be fine-tuned until the two light spots are completely coincident in the vertical direction. During the height adjustment process, high-precision displacement sensors are used to monitor the height changes of the robotic arms to ensure the accuracy of the adjustment.

[0060] The light emitter integrates an ambient light sensor and a light intensity adjustment module. Before surgery, the ambient light sensor detects the ambient light intensity in the operating room and transmits the data to the light intensity adjustment module. Based on the ambient light intensity, the light intensity adjustment module automatically adjusts the output power of the laser emitter to ensure that the light spot is always clearly visible in complex lighting environments. For example, in bright ambient light conditions, the module will increase the brightness of the laser; in dark ambient light conditions, the module will reduce the brightness of the laser to avoid interfering with the doctor's vision.

[0061] The light emitter adopts a modular design, including light source modules of different wavelengths and spot shape modules. According to the needs of different surgical scenes, the operator can quickly replace the corresponding modules. For example, for surgical scenes that require high contrast, a red light module with longer wavelength can be replaced; for surgical scenes that require fine operation, a module with smaller spot shape can be replaced. The module replacement process is simple and fast, and does not require professional tools to complete the disassembly and installation of the module.

[0062] In addition, the patient should be brought into the surgical environment after positioning is complete, for the following reasons: Patient safety: Bringing the patient into the surgical environment after positioning is complete minimizes the risk of exposure to potentially harmful radiation, such as lasers.

[0063] Accuracy: Without the patient present, the surgical team can adjust and calibrate equipment more freely, ensuring the highest accuracy in positioning of robotic arms and surgical tools.

[0064] Reduced surgery time: By completing all preparations before the patient enters, the time the patient spends on the operating table is reduced, reducing surgical risk and improving efficiency.

[0065] The specific process is as follows: Preoperative preparation: Before the patient enters the operating room, the surgical team completes all equipment calibration and robotic arm positioning work. This includes starting the laser emitter, adjusting the position of the robotic arm, and ensuring that all equipment is in standby mode.

[0066] Simulation surgery: Without the patient, the surgical team can perform a simulation surgery to verify the accuracy of the robotic arm positioning and the smoothness of the surgical process.

[0067] Environmental check: Before the patient enters, ensure that the surgical environment is safe, and all laser equipment and other dangerous equipment have been properly closed or placed in safe mode.

[0068] Patient transfer: After confirming that all preparations are complete, the patient is smoothly transferred to the operating table and anesthesia and positioning are performed according to the surgical plan.

[0069] Final calibration: After the patient is in place, the surgical team can perform the final robotic arm calibration to ensure that the robotic arm is fully aligned with the patient's surgical site.

[0070] Surgery begins: After all safety measures are in place, the surgery officially begins.

[0071] In this way, the safety of the patient can be ensured while improving the accuracy and efficiency of the surgery. However, this approach also requires the surgical team to be fully prepared and checked before the patient enters, to ensure that once the patient enters the operating room, the surgery can be carried out quickly and safely.

[0072] Through the description of the above specific embodiments, the present application provides a light ray indication-based rapid positioning method for a microscopic surgery robot mechanical arm, which realizes rapid and accurate positioning of the mechanical arm, improves the efficiency and safety of microscopic surgery. At the same time, the modular design and ambient light adaptive function of the present application enhance the adaptability and practicality of the equipment, meet the needs of different surgical scenarios.

[0073] Finally, this method is not only suitable for microscopic surgery robots with two mechanical arms, but also can be extended to microscopic surgery robots with more mechanical arms, as well as other types of surgical robots, and even mechanical arms in other fields. The demonstration is as follows: I. Applicable to more mechanical arms of microscopic surgery robots Scalability: The core of this method is to use light emitters for rapid positioning of mechanical arms. When the number of mechanical arms increases, only the corresponding light emitters need to be installed at the ends of the new mechanical arms, and positioning is performed according to the original method. Therefore, this method has good scalability.

[0074] Flexibility: In the case of multiple mechanical arms, different colors of light can be used to distinguish between each mechanical arm. At the same time, by adjusting the direction and height of the light emitters, coordinated work of multiple mechanical arms can be achieved to ensure the accuracy of the surgery.

[0075] Accuracy: With the increase in the number of mechanical arms, the positioning accuracy of the light intersection point does not decrease. On the contrary, the coincidence of multiple light spots can further improve the positioning accuracy of the surgical area.

[0076] II. Applicable to other types of surgical robots Versatility: This method is not only applicable to microscopic surgery robots, but also can be applied to other types of surgical robots, such as laparoscopic surgery robots, orthopedic surgery robots, etc. These surgical robots also need to achieve accurate positioning during surgery.

[0077] Adaptability: Different types of surgical robots may differ in mechanical structure, surgical scenario, etc., but the light emitter positioning method can be adjusted accordingly according to specific needs, such as replacing different wavelength light source modules, different light spot shape modules, etc.

[0078] III. Applicable to mechanical arms in other fields Cross-domain applications: The light emitter positioning method is not only suitable for the medical field, but also can be extended to other fields that require precise positioning, such as industrial manufacturing, aerospace, scientific experiments, etc.

[0079] Positioning needs: In many fields, the precise positioning of the mechanical arm is the key to completing specific tasks. By adopting the light emitter positioning method, the operation accuracy of the mechanical arm can be improved, and the error can be reduced.

[0080] Convenience: This method is simple to operate and easy to implement. Through modular design and ambient light adaptive function, it can quickly adapt to the needs of different fields.

[0081] In summary, the mechanical arm rapid positioning method based on light indication has broad application prospects. Through appropriate adjustment and optimization, this method can be applied to various types of surgical robots and other fields of mechanical arms, achieving precise and efficient positioning. This not only helps to improve the success rate of surgery, but also brings higher production efficiency and product quality to various industries.

[0082] Finally, it should be noted that the above description is only the preferred embodiment of the present application and does not limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can modify the technical solutions described in the foregoing embodiments or make equivalent replacements to some technical features, as long as they are within the spirit and principles of the present application. Any modification, equivalent replacement, improvement, etc. shall be included in the protection scope of the present application.

Claims

1. A method for rapid positioning of a microsurgical robot arm based on light ray indication, two mechanical arms are arranged on the microsurgical robot, characterized in that, The method comprises the following steps: Installation of light emitters, one light emitter is arranged at the end of each mechanical arm, and the emission direction of the light emitter is consistent with the movement direction of the surgical instrument connected to the end of the corresponding mechanical arm; Preliminary positioning, moving the two mechanical arms to the target surgical area position to ensure that the intersection point of the light emitted by the two light emitters can enter the microscopic surgical area; Adjustment of the operating table or the mechanical arms, gradually moving the intersection point of the light emitted by the light emitters closer to the target surgical area by pushing the operating table or adjusting the posture of the two mechanical arms; Height adjustment, adjusting the height of each mechanical arm according to the relative position of the light spots generated by the two mechanical arms to make the two light spots completely coincide, at which time the mechanical arms reach the predetermined optimal position; Installation of instruments, after the light spots coincide, turning off the light emitters, and installing surgical instruments at the ends of the mechanical arms to complete the rapid positioning of the surgical mechanical arms.

2. The method of claim 1, wherein: The height adjustment comprises the following steps: Dividing the two mechanical arms into a left mechanical arm and a right mechanical arm according to the actual positions; Adjusting the height of each mechanical arm according to the relative position of the light spots generated by the left mechanical arm and the right mechanical arm: When the light spot of the left mechanical arm is located to the left of the light spot of the right mechanical arm, gradually increasing the end position of the left mechanical arm while keeping the end position of the right mechanical arm unchanged or decreasing, until the two light spots completely coincide; When the light spot of the left mechanical arm is located to the right of the light spot of the right mechanical arm, gradually decreasing the end position of the left mechanical arm while keeping the end position of the right mechanical arm unchanged or increasing, until the two light spots completely coincide; Repeating the above adjustment process until the two light spots completely coincide at the target surgical position, indicating that the ends of the two mechanical arms have reached the predetermined optimal height.

3. The method of claim 1 or 2, wherein: The two light emitters emit light of different colors to distinguish the light spots of the two mechanical arms; the colors include but are not limited to red, green, blue, and yellow.

4. The method of claim 1 or 2, wherein: The light spots emitted by the two light emitters have the same shape; the shape includes a circle, an ellipse, a square, or a rectangle.

5. The method of claim 1 or 2, wherein: The two light emitters are laser emitters, and the installation angle and direction of the laser emitters are consistent with the movement direction of the surgical instrument connected to the end of the mechanical arm.

6. The method of claim 1 or 2, wherein: The light emitters comprise an automatic focusing function, which can dynamically adjust the size and shape of the light spot according to the real-time needs of the surgical area to improve the accuracy of light spot positioning.

7. The method of claim 1 or 2, wherein: The light emitters comprise an ambient light sensor and a light intensity adjustment module, which can dynamically adjust the brightness and intensity of the light by detecting the strength of the ambient light in the operating room to ensure that the light spot is clearly visible in a complex lighting environment.

8. The method of claim 1 or 2, wherein: The light emitters are modularly designed, and different types of emission modules can be quickly replaced, including light source modules of different wavelengths and light spot shape modules to adapt to different surgical scene requirements.