Surgical navigation system and error calibration method, device and storage medium thereof

Abstract

The application discloses a surgical navigation system and an error calibration method, device and storage medium thereof, wherein the method comprises the following steps: acquiring a CT image, and the CT image contains an image of a calibration tool; identifying a target pose of the calibration tool in the CT image; calculating a target motion amount from a current pose of a mechanical arm end tool to the target pose, and controlling the mechanical arm end tool to move according to the target motion amount to reach a first physical space pose; acquiring a surgical navigation adjustment parameter, and controlling the mechanical arm end tool to move according to the surgical navigation adjustment parameter, so that the mechanical arm end tool moves from the first physical space pose to a physical space pose of the calibration tool, and an accumulated adjustment amount is acquired; and taking the accumulated adjustment amount as a calibration parameter, so that the surgical navigation system performs positioning calibration of the mechanical arm end tool according to the calibration parameter. Therefore, the surgical navigation system error is effectively reduced, and the system precision is improved.

Description

[0001] This case is a divisional application of application number 202411356658.6, filed on September 25, 2024, entitled "Surgical Navigation System and Error Calibration Method, Device and Storage Medium Thereof". Technical Field

[0002] This invention relates to the field of surgical navigation technology, and in particular to an error calibration method for a surgical navigation system, a computer-readable storage medium, an error calibration device for a surgical navigation system, and a surgical navigation system. Background Technology

[0003] In various types of robotic surgical navigation, there are often various errors, such as CT image errors, navigation registration errors, and tool processing errors. The collection of all errors is called systematic error, which plays a crucial role in the positioning accuracy of the robot.

[0004] Currently, surgical navigation systems using related technologies typically employ tooling with optical markers to calibrate tooling machining errors. However, while this calibration method can calibrate errors in the tool itself, it still has limitations; for example, it cannot calibrate the overall error of the surgical navigation system. Summary of the Invention

[0005] This invention aims to at least partially address one of the technical problems in related technologies. Therefore, the first objective of this invention is to provide an error calibration method for a surgical navigation system, which can effectively reduce the error of the surgical navigation system and improve the system accuracy.

[0006] A second objective of this invention is to provide a computer-readable storage medium.

[0007] The third objective of this invention is to provide an error calibration device for a surgical navigation system.

[0008] The fourth objective of this invention is to provide a surgical navigation system.

[0009] To achieve the above objectives, the error calibration method for a surgical navigation system proposed in the first aspect of the present invention includes: capturing a CT image of a surgical area using a CT scanner, wherein a calibration fixture is provided in the surgical area, and the CT image contains an image of the calibration fixture; identifying the target pose of the calibration fixture in the CT image; calculating the target motion amount from the current pose of a robotic arm end effector to the target pose, and controlling the movement of the robotic arm end effector according to the target motion amount to reach a first physical space pose; acquiring surgical navigation adjustment parameters, and controlling the movement of the robotic arm end effector according to the surgical navigation adjustment parameters to move the robotic arm end effector from the first physical space pose to the physical space pose of the calibration fixture, and acquiring a cumulative adjustment amount; using the cumulative adjustment amount as a calibration parameter, and enabling the surgical navigation system to perform positioning calibration of the robotic arm end effector according to the calibration parameters.

[0010] The error calibration method for a surgical navigation system proposed in this invention utilizes a CT scanner to capture CT images of the surgical area. Then, it identifies the target pose of the calibration fixture within the CT image and calculates the target motion amount from the current pose of the robotic arm's end effector to the target pose. Based on this target motion amount, it controls the movement of the robotic arm's end effector to reach a first physical space pose. Next, it acquires surgical navigation adjustment parameters and controls the movement of the robotic arm's end effector based on these parameters, moving it from the first physical space pose to the physical space pose of the calibration fixture. It also acquires a cumulative adjustment amount and uses this cumulative adjustment amount as calibration parameters, enabling the surgical navigation system to perform positioning calibration of the robotic arm's end effector according to these parameters. This effectively reduces the error of the surgical navigation system and improves system accuracy.

[0011] In addition, the error calibration method for the surgical navigation system according to the above embodiments of the present invention may also have the following additional technical features:

[0012] According to one embodiment of the present invention, the surgical navigation adjustment parameters include position adjustment parameters and / or orientation adjustment parameters.

[0013] According to one embodiment of the present invention, the calibration fixture includes a metal sphere and a metal rod, and the step of identifying the target pose of the calibration fixture in the CT image includes: identifying the coordinates of the center of the metal sphere and the axial direction of the metal rod in the CT image; and using the coordinates of the center of the sphere and the axial direction as the target pose of the calibration fixture in the CT image.

[0014] According to one embodiment of the present invention, the calibration fixture includes a metal sphere and a plastic base, and the step of identifying the target pose of the calibration fixture in the CT image includes: identifying the center coordinates of the metal sphere in the CT image; and using the center coordinates and a preset direction as the target pose of the calibration fixture in the CT image.

[0015] According to one embodiment of the present invention, the step of causing the surgical navigation system to perform robotic arm end-effector positioning calibration according to the calibration parameters includes: obtaining the lesion location based on the CT image; calculating a first motion amount from the current pose of the robotic arm end-effector to the target pose, and calculating a second motion amount from the target pose to the lesion location; calibrating the first motion amount using the calibration parameters to obtain a third motion amount; and controlling the movement of the robotic arm end-effector based on the second motion amount and the third motion amount; or, calibrating the second motion amount using the calibration parameters to obtain a fourth motion amount, and controlling the movement of the robotic arm end-effector based on the first motion amount and the fourth motion amount.

[0016] According to one embodiment of the present invention, the step of causing the surgical navigation system to perform robotic arm end-effector positioning calibration according to the calibration parameters includes: obtaining the lesion location based on the CT image; calculating a sixth motion quantity from the current pose of the robotic arm end-effector to the lesion location; calibrating the sixth motion quantity using the calibration parameters to obtain a seventh motion quantity; and controlling the movement of the robotic arm end-effector according to the seventh motion quantity.

[0017] According to one embodiment of the present invention, the surgical navigation system includes a button or a touch display screen configured on the robotic arm, and the surgical navigation adjustment parameters are input via the button or the touch display screen.

[0018] According to one embodiment of the present invention, the step of acquiring surgical navigation adjustment parameters and controlling the movement of the robotic arm end-effector according to the surgical navigation adjustment parameters, so that the robotic arm end-effector moves from the first physical space pose to the physical space pose of the calibration fixture, includes: receiving surgical navigation adjustment parameters input by an operator through a button or touch screen on the robotic arm to control the movement of the robotic arm end-effector toward the calibration fixture, wherein the surgical navigation adjustment parameters are determined by the operator by observing the relative poses of the robotic arm end-effector and the calibration fixture in the physical space; controlling the movement of the robotic arm end-effector according to the surgical navigation adjustment parameters, and repeating this step until the operator observes that the robotic arm end-effector has reached the physical space pose of the calibration fixture in the physical space.

[0019] According to an embodiment of the present invention, the method further includes: calculating a target motion amount from the current pose of the robotic arm end effector to the target pose; calibrating the target motion amount according to the calibration parameters to obtain a calibrated motion amount; controlling the movement of the robotic arm end effector according to the calibrated motion amount to reach a second physical space pose; when the second physical space pose is different from the physical space pose of the calibration fixture, acquiring surgical navigation adjustment parameters, and controlling the movement of the robotic arm end effector according to the surgical navigation adjustment parameters to move the robotic arm end effector from the second physical space pose to the physical space pose of the calibration fixture, and acquiring a cumulative adjustment amount; superimposing the new cumulative adjustment amount onto the current calibration parameters to obtain and update the calibration parameters.

[0020] To achieve the above objectives, a computer-readable storage medium is provided in a second aspect embodiment of the present invention, which stores an error calibration program for a surgical navigation system. When the error calibration program for the surgical navigation system is executed by a processor, it implements the error calibration method for the surgical navigation system described in the embodiments of the present invention.

[0021] According to embodiments of the present invention, a computer-readable storage medium can effectively reduce surgical navigation system errors and improve system accuracy by executing an error calibration program for a surgical navigation system stored thereon.

[0022] To achieve the above objectives, the third aspect of the present invention provides an error calibration device for a surgical navigation system, comprising: an acquisition module for acquiring a CT image of a surgical area using a CT scanner, wherein a calibration fixture is provided in the surgical area, and the CT image contains an image of the calibration fixture; identifying the target pose of the calibration fixture in the CT image; a control module for calculating the target motion amount from the current pose of a robotic arm end effector to the target pose, and controlling the movement of the robotic arm end effector according to the target motion amount to reach a first physical space pose; and a calibration module for acquiring surgical navigation adjustment parameters, and controlling the movement of the robotic arm end effector according to the surgical navigation adjustment parameters to move the robotic arm end effector from the first physical space pose to the physical space pose of the calibration fixture, and acquiring a cumulative adjustment amount; using the cumulative adjustment amount as a calibration parameter, and enabling the surgical navigation system to perform positioning calibration of the robotic arm end effector according to the calibration parameter.

[0023] The error calibration device for a surgical navigation system according to an embodiment of the present invention acquires CT images of the surgical area using a CT scanner and identifies the target pose of the calibration fixture in the CT images. Then, a control module calculates the target motion amount from the current pose of the robotic arm end effector to the target pose, controls the movement of the robotic arm end effector based on the target motion amount to reach a first physical space pose. Furthermore, a calibration module acquires surgical navigation adjustment parameters and controls the movement of the robotic arm end effector based on these parameters, causing it to move from the first physical space pose to the physical space pose of the calibration fixture. The device also acquires a cumulative adjustment amount, which is then used as a calibration parameter, enabling the surgical navigation system to perform positioning calibration of the robotic arm end effector according to the calibration parameters. This effectively reduces the error of the surgical navigation system and improves the system accuracy.

[0024] To achieve the above objectives, the surgical navigation system proposed in the fourth aspect of the present invention includes the error calibration device of the surgical navigation system described in the above-described embodiments of the present invention.

[0025] According to embodiments of the present invention, the surgical navigation system, by employing the aforementioned error calibration device for the surgical navigation system, can effectively reduce the error of the surgical navigation system and improve the system accuracy.

[0026] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0027] Figure 1 This is a flowchart illustrating an error calibration method for a surgical navigation system according to an embodiment of the present invention;

[0028] Figure 2 This is a schematic diagram of the structure of a calibration fixture according to an embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the structure of a calibration fixture according to another embodiment of the present invention;

[0030] Figure 4 This is a flowchart illustrating an error calibration method for a surgical navigation system according to an embodiment of the present invention;

[0031] Figure 5 This is a flowchart illustrating an error calibration method for a surgical navigation system according to an embodiment of the present invention;

[0032] Figure 6 This is a flowchart illustrating an error calibration method for a surgical navigation system according to a specific embodiment of the present invention.

[0033] Figure 7This is a block diagram of an error calibration device for a surgical navigation system according to an embodiment of the present invention;

[0034] Figure 8 This is a block diagram of a surgical navigation system according to an embodiment of the present invention. Detailed Implementation

[0035] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0036] The following description, with reference to the accompanying drawings, outlines an error calibration method, a computer-readable storage medium, an error calibration device, and a surgical navigation system according to embodiments of the present invention.

[0037] It should be noted that the error calibration method for the surgical navigation system proposed in the embodiments of the present invention has certain reference significance for the error calibration of various surgical navigation systems. For orthopedic surgical navigation robots, depending on the surgical department, the robot type can be divided into spinal surgery navigation robots, trauma surgery navigation robots, and joint surgery navigation robots. The overall surgical navigation process can be roughly divided into: image acquisition, image registration, surgical planning, and machine navigation. Furthermore, surgical navigation robots with two-dimensional image registration mode, three-dimensional image registration mode, and multimodal registration mode can be derived according to different image registration methods.

[0038] Figure 1 This is a flowchart illustrating an error calibration method for a surgical navigation system according to an embodiment of the present invention.

[0039] Specifically, in some embodiments of the present invention, such as Figure 1 As shown, the error calibration method for the surgical navigation system includes:

[0040] S101 uses a CT scanner to capture CT images of the surgical area, where a calibration fixture is installed, and the CT images contain images of the calibration fixture.

[0041] It is understood that, in this embodiment of the present invention, a tracer and calibration fixture with no fewer than three optical markers are fixedly installed in the surgical area beforehand, and the calibration fixture is ensured to be within the imaging range of the CT image, thereby using a CT scanner to capture CT images of the surgical area.

[0042] Optionally, the number of calibration fixtures can be one or more, which are visible under CT and whose feature points can be easily identified in CT images, and whose position and orientation are easily identified. The tracer is mainly used to facilitate the tracking and positioning of patients.

[0043] S102 identifies the target pose of the calibration fixture in the CT image.

[0044] It is understood that pose can be used to characterize position and / or orientation, to describe the location of an object in its spatial context, and to represent angular information such as attitude. The target pose of the calibration fixture can be the position and / or orientation represented by the feature points of the calibration fixture. Specifically, in this embodiment of the present invention, target recognition can be performed on the DICOM data of the CT image using a neural network recognition method or a traditional recognition method, thereby obtaining the position and / or orientation information of the calibration fixture in the CT image, which can be used as the target pose. Thus, the target pose of the calibration fixture is identified through the CT image, wherein the target pose includes the center coordinates and / or axis direction of the calibration fixture, and this target pose is used to characterize the theoretical spatial pose of the calibration fixture determined based on the CT image.

[0045] S103, calculate the target motion amount from the current pose of the robotic arm end-effector to the target pose, and control the movement of the robotic arm end-effector according to the target motion amount to reach the first physical space pose.

[0046] It should be noted that the physical spatial pose of each object in the surgical navigation system can be the pose of the relevant object observed by the operator through visual observation from outside the surgical navigation system.

[0047] It is understood that the pose of the robotic arm end effector can be defined by its surgical guidance direction and position coordinates. The surgical guidance direction can be represented by its yaw angle / roll angle / pitch angle relative to the robotic arm base, and the position coordinates can be represented by the position coordinates of the tip of the end effector or the tip of the guided object, such as a Kirschner wire. Specifically, in this embodiment of the invention, the target motion amount of the robotic arm end effector can be controlled to move the end effector from its current pose to a first physical space pose. The first physical space pose is the state determined by the surgical navigation system after the target motion amount, i.e., the actual physical space pose that the end effector can achieve, to facilitate surgical calibration planning and execution.

[0048] It is understood that motion quantity is the amount of pose change of a robotic arm's end effector from one pose to another, including the magnitude of translational distance and / or the direction and angle of rotation. For example, it can be the amount of position change of the robotic arm as the end effector moves from one position to another, the amount of rotational angle change of the end effector, or a combination of both. In the above embodiments of the present invention, the target motion quantity is the amount of pose change of the robotic arm's end effector from the current pose to the target pose.

[0049] It should be understood that the robotic arm end-effector moving to the target pose can mean that the tip of the robotic arm end-effector or the tip of the guided object, such as the tip of a Kirschner wire, points to the center coordinates of a sphere, and / or that the surgical guidance direction of the robotic arm end-effector is consistent with the target direction.

[0050] S104, acquire surgical navigation adjustment parameters, and control the movement of the robotic arm end tool according to the surgical navigation adjustment parameters, so that the robotic arm end tool moves from the first physical space pose to the physical space pose of the calibration fixture, and acquire the cumulative adjustment amount.

[0051] Specifically, surgical navigation adjustment parameters are parameters used to control the overall or partial movement of the robotic arm, and can achieve adjustment of the position and posture of the end effector of the robotic arm.

[0052] Understandably, due to systematic errors, the positioning point and direction of the robotic arm end effector in physical space (i.e., the aforementioned first physical space pose) deviate from the actual physical space pose of the calibration fixture. Therefore, the first physical space pose reached after controlling the movement of the robotic arm end effector according to the target motion amount does not coincide with the actual physical space pose of the calibration fixture. It is necessary to further adjust the actual physical space pose of the robotic arm end effector according to the surgical navigation adjustment parameters so that the robotic arm end effector moves from the first physical space pose to the physical space pose of the calibration fixture and obtains the cumulative adjustment amount.

[0053] It should be noted that both the first physical space pose and the physical space pose of the calibration fixture can be the poses observed by the operator or through external equipment outside the surgical navigation system. Whether the end effector of the robotic arm moves from the first physical space pose to the physical space pose of the calibration fixture can also be observed and determined by the operator or through external equipment outside the surgical navigation system.

[0054] Optionally, in some embodiments of the present invention, the surgical navigation adjustment parameters include position adjustment parameters and / or direction adjustment parameters.

[0055] It should be noted that the cumulative adjustment amount can be a component adjustment amount recorded in multiple directions in segments. For example, first move 'a' millimeters in the first direction, and then move 'b' millimeters in the second direction. Specifically, move 2 millimeters towards the foot first, and then move 3 millimeters towards the left side of the body. In addition, the cumulative adjustment amount can also be the adjustment amount of the combined motion in multiple directions. For example, if the motion amount in the first direction is vector 'a', the motion amount in the second direction is vector 'b', and the recorded cumulative adjustment amount is the vector sum of vectors 'a' and 'b'.

[0056] Among them, the direction in the cumulative adjustment amount can be based on the recorded changes in yaw angle / roll angle / pitch angle reached by the end-effector of the robotic arm. For example, in a surgical navigation system, a tracer can be set on the robotic arm to enable the navigator to locate and track the robotic arm. By calibrating the robotic arm and tracking it, as well as the position of the end-effector of the robotic arm relative to the tracer, the location and tracking of the end-effector of the robotic arm can be achieved, and the position of the end-effector of the robotic arm and the yaw angle / roll angle / pitch angle, etc., can be determined.

[0057] Specifically, in this embodiment of the invention, surgical navigation adjustment parameters can be obtained through an operator input system, or the deviation between the first physical space pose and the actual physical space pose of the calibration fixture can be obtained through other means, such as an additionally set tracking system. The amount of motion between the first physical space pose and the actual physical space pose of the calibration fixture is then calculated based on the deviation. This amount of motion can be input into the surgical navigation system as surgical navigation adjustment parameters. Subsequently, the pose of the robotic arm end effector can be adjusted based on the surgical navigation adjustment parameters and / or the orientation (which can be expressed as yaw angle / roll angle / pitch angle) of the robotic arm end effector can be adjusted based on the orientation adjustment parameters, so that the robotic arm end effector moves from the first physical space pose to the physical space pose of the calibration fixture.

[0058] It should be noted that the additional tracking system can track the robotic arm tool and its yaw / tilt / roll angles using the same method described in the surgical navigation system for tracking the robotic arm's end effector. Simultaneously, a calibration fixture and tracer are positioned within the patient's surgical area. The relatively fixed poses of the calibration fixture and tracer allow the additional tracking system to track and locate the calibration fixture by tracking the tracer. Furthermore, since this tracking system is additional, the tracked poses do not accumulate errors from the surgical navigation system. Therefore, it not only enables the acquisition of calibration parameters and the calibration process but also further improves the efficiency of this process.

[0059] Furthermore, in some embodiments of the present invention, the surgical navigation system includes buttons or a touch display screen configured on a robotic arm, and the surgical navigation adjustment parameters can be input by the operator via the buttons or touch display screen.

[0060] Specifically, in some embodiments of the present invention, acquiring surgical navigation adjustment parameters and controlling the movement of the robotic arm end-effector based on the surgical navigation adjustment parameters to move the robotic arm end-effector from a first physical space pose to a calibration fixture physical space pose includes: receiving surgical navigation adjustment parameters input by the operator via a button or touch screen on the robotic arm to control the movement of the robotic arm end-effector towards the calibration fixture, wherein the surgical navigation adjustment parameters are determined by the operator based on observation of the relative poses of the robotic arm end-effector and the calibration fixture in the physical space; controlling the movement of the robotic arm end-effector based on the surgical navigation adjustment parameters, and repeating this step until the operator observes the robotic arm end-effector reaching the physical space pose of the calibration fixture in the physical space.

[0061] It is understood that in this embodiment of the present invention, the operator can determine the corresponding surgical navigation adjustment parameters by observing the relative pose of the robotic arm end-effector and the calibration fixture in the physical space. Then, the operator can input the surgical navigation adjustment parameters for controlling the movement of the robotic arm end-effector toward the calibration fixture through buttons on the robotic arm or a touch screen, so that the surgical navigation system can control the movement of the robotic arm end-effector according to the surgical navigation adjustment parameters. This step is repeated until the operator observes the physical spatial pose of the robotic arm end-effector reaching the calibration fixture. Thus, the cumulative adjustment amount is obtained. At the same time, through this process, the pose of the robotic arm end-effector can be adjusted multiple times according to the actual pose, thereby achieving precise adjustment.

[0062] In another embodiment, obtaining surgical navigation adjustment parameters and controlling the movement of the robotic arm end-effector based on the surgical navigation adjustment parameters, so that the robotic arm end-effector moves from the first physical space pose to the physical space pose of the calibration fixture, can also be done in the following way: calculating the amount of motion from the first physical space pose to the physical space pose of the calibration tool through an additional tracking system, using this amount of motion as the surgical navigation adjustment parameter, and then, after obtaining the adjustment parameter, the surgical navigation system controls the movement of the robotic arm end-effector based on the surgical navigation adjustment parameter.

[0063] It should be noted that the additional tracking system can determine whether the end-effector of the robotic arm has moved from the first physical space pose to the actual physical space pose of the calibration tool based on the pose of the end-effector of the robotic arm and the pose of the calibration tool. Specifically, when the poses of the two are consistent or the deviation does not exceed the preset threshold range, it is considered that the end-effector of the robotic arm has moved from the first physical space pose to the actual physical space pose of the calibration tool, and the process can be repeated until the motion target requirement is met.

[0064] S105 uses the cumulative adjustment amount as a calibration parameter, enabling the surgical navigation system to perform positioning calibration of the robotic arm end-effector based on the calibration parameter.

[0065] It is understood that in this embodiment of the present invention, the surgical navigation system performs positioning calibration of the robotic arm end effector according to calibration parameters, thereby achieving error calibration of the surgical navigation system. For example, the surgical navigation system needs to control the robotic arm end effector to reach the lesion location, and then plans a motion path with respect to the amount of motion. Based on this, the calibration parameters can be used to adjust the amount of motion, thereby adjusting the motion path so that the robotic arm end effector can reach the desired position.

[0066] Furthermore, in some embodiments of the present invention, such as Figure 2 As shown, the calibration fixture includes a metal sphere and a metal rod. Identifying the pose of the calibration fixture in the CT image includes: identifying the coordinates of the center of the metal sphere and the axial direction of the metal rod in the CT image, and using the coordinates of the center of the sphere and the axial direction as the target pose of the calibration fixture in the CT image.

[0067] Specifically, in this embodiment of the invention, the calibration fixture includes a metal sphere and a metal rod, wherein the top end of the metal rod is connected to the metal sphere, and the end of the metal rod has a needle tip structure. In addition, since surgical patients are generally under anesthesia, for spinal surgery, the calibration fixture can be fixed to the spinous process of the human body by pricking the needle, and for trauma surgery, the calibration fixture can be fixed to the bone near the surgical area by pricking the needle.

[0068] It should be noted that, for surgical calibration planning, in... Figure 2 Taking the calibration fixture shown as an example, by identifying the center coordinates of the metal sphere in the CT image (for example, finding the center coordinates of the metal sphere through the three sections of the CT image, or automatically identifying the center coordinates of the metal sphere using an algorithm) and the axial direction of the metal rod (for example, after finding the metal sphere, deleting part of the metal sphere and only retaining the three-dimensional image data of the metal rod, and then calculating its axial direction based on the structure of the metal rod), the center coordinates and axial direction are used as the target pose of the calibration fixture in the CT image.

[0069] Among them, the movement of the robotic arm end-effector to the target pose can refer to the tip of the robotic arm end-effector pointing to the center coordinate of the sphere, and the surgical guidance direction of the robotic arm end-effector along the axis.

[0070] Furthermore, in some embodiments of the present invention, such as Figure 3As shown, the calibration fixture includes a metal sphere and a plastic base. Identifying the pose of the calibration fixture in a CT image involves: identifying the coordinates of the center of the metal sphere in the CT image, and using the center coordinates and a preset direction as the target pose of the calibration fixture in the CT image. The preset direction can be the initial pose of the robotic arm's end effector or a predicted needle insertion direction.

[0071] Specifically, in this embodiment of the invention, the calibration fixture includes a metal sphere and a plastic base, wherein the plastic base has a groove, and the metal sphere is placed in the groove. In addition, the plastic base of the calibration fixture can be fixed to the patient's skin surface using double-sided tape.

[0072] It should be noted that, for surgical calibration planning, in... Figure 3 Taking the calibration fixture shown as an example, the coordinates of the center of the metal sphere in the CT image are identified (for example, by finding the coordinates of the center of the metal sphere through the three cross sections of the CT image, or by automatically identifying the coordinates of the center of the metal sphere using an algorithm). Since the plastic base is made of plastic, it is not visible in the CT image. Therefore, only the coordinates of the center of the sphere and the preset direction are used as the target pose of the calibration fixture in the CT image. The preset direction can be, for example, the initial direction of the robotic arm's end effector.

[0073] Furthermore, in some embodiments of the present invention, such as Figure 4 As shown, the surgical navigation system performs robotic arm end-effector positioning calibration based on calibration parameters, including:

[0074] S201, Obtain the location of the lesion based on CT images.

[0075] It is understood that, in this embodiment of the present invention, the location of the lesion requiring surgical operation can be determined by CT images.

[0076] S202, calculate the first motion from the current pose of the robotic arm end-effector to the target pose, and calculate the second motion from the target pose to the lesion location.

[0077] It should be noted that when determining the second motion quantity, the change in direction can be a preset value, such as 0, which means that the direction of the end effector of the robotic arm does not need to be adjusted.

[0078] It is understood that, in this embodiment of the present invention, the first motion amount is determined based on the relative pose of the current pose of the robotic arm end tool and the target pose, and the second motion amount is determined based on the relative pose of the target pose and the lesion location.

[0079] S203, calibrate the first motion quantity using calibration parameters to obtain the third motion quantity, and control the movement of the end effector of the robotic arm based on the second and third motion quantities; or, calibrate the second motion quantity using calibration parameters to obtain the fourth motion quantity, and control the movement of the end effector of the robotic arm based on the first and fourth motion quantities.

[0080] It is understood that, in this embodiment of the present invention, the end effector of the robotic arm can be controlled to move to the calibrated target pose according to the third motion amount, and then the end effector of the robotic arm can be controlled to move to the lesion location according to the second motion amount. Alternatively, the end effector of the robotic arm can be controlled to move to the target pose according to the first motion amount, and then the end effector of the robotic arm can be controlled to move to the calibrated lesion location according to the fourth motion amount.

[0081] It should be noted that, in the above embodiments of the present invention, the end effector of the robotic arm may include a guide and a sleeve. After the positioning and calibration of the end effector of the robotic arm is completed, the end effector of the robotic arm is specifically used to provide a directional channel so that the Kirschner wire can reach the lesion location along the channel.

[0082] Furthermore, in some embodiments of the present invention, such as Figure 5 As shown, the surgical navigation system performs robotic arm end-effector positioning calibration based on calibration parameters, including:

[0083] S301, obtain the location of the lesion based on CT images.

[0084] It is understood that, in this embodiment of the present invention, the location of the lesion requiring surgical operation can be determined based on CT images using an image recognition algorithm.

[0085] S302, calculate the sixth motion from the current pose of the robotic arm end-effector to the location of the lesion.

[0086] It is understood that, in this embodiment of the present invention, the sixth motion quantity is determined based on the current pose of the end effector of the robotic arm and the location of the lesion.

[0087] It should be noted that when determining the sixth motion quantity, the change in direction can be a preset value, such as 0, which means that the direction of the end effector of the robotic arm does not need to be adjusted.

[0088] S303 uses calibration parameters to calibrate the sixth motion quantity to obtain the seventh motion quantity, and controls the movement of the end effector tool of the robotic arm based on the seventh motion quantity.

[0089] It is understood that, in this embodiment of the present invention, the end effector of the robotic arm can be directly controlled to move to the calibrated lesion position according to the seventh motion amount.

[0090] It should be noted that, in the above embodiments of the present invention, the robotic arm end-effector includes a guide and a sleeve. After the robotic arm end-effector positioning calibration is performed, the robotic arm end-effector is specifically used to provide a directional channel so that the Kirschner wire can reach the lesion location along the channel.

[0091] Furthermore, in some embodiments of the present invention, such as Figure 6 As shown, the method in this embodiment also includes:

[0092] S401, calculate the target motion from the current pose of the robotic arm end effector to the target pose, and calibrate the target motion according to the calibration parameters to obtain the calibrated motion.

[0093] S402 controls the movement of the robotic arm's end-effector tool based on the calibrated motion amount to reach the second physical space pose.

[0094] S403, when the second physical space pose is different from the physical space pose of the calibration fixture, obtain the surgical navigation adjustment parameters, and control the movement of the robotic arm end tool according to the surgical navigation adjustment parameters so that the robotic arm end tool moves from the second physical space pose to the physical space pose of the calibration fixture, and obtain the cumulative adjustment amount.

[0095] It is understood that, in this embodiment of the present invention, if the second physical space pose differs from the physical space pose of the calibration fixture, the calibration parameters of the robotic arm end effector are no longer suitable for the current scenario. In this case, it is necessary to obtain new calibration parameters suitable for the current scenario. Specifically, it is necessary to obtain the surgical navigation adjustment parameters again and control the movement of the robotic arm end effector according to the surgical navigation adjustment parameters, so that the robotic arm end effector moves from the second physical space pose to the physical space pose of the calibration fixture, and obtain the cumulative adjustment amount.

[0096] Both the second physical space pose and the physical space pose of the calibration fixture can be poses observed visually by devices outside the surgical navigation system or by the operator. Whether the robotic arm end effector moves from the second physical space pose to the physical space pose of the calibration fixture can also be observed and determined visually by devices outside the surgical navigation system or by the operator. The method for obtaining surgical navigation adjustment parameters can refer to the above embodiments, and will not be repeated here.

[0097] S404 adds the new cumulative adjustment to the current calibration parameters to obtain and update the calibration parameters.

[0098] It is understood that in this embodiment of the invention, by superimposing the new cumulative adjustment amount onto the current calibration parameters, the superposition can be achieved by adding segmented records or by calculating the relevant vector sum. This allows the calibration parameters to be updated and acquired, enabling the surgical navigation system to perform positioning calibration of the robotic arm end effector based on the updated calibration parameters during the next navigation and positioning process, thereby ensuring the real-time calibration accuracy of the surgical navigation system.

[0099] Specifically, in some embodiments of the present invention, whether during surgical planning or during surgery, the operator can adjust the information of the DICOM data corresponding to the tags in the CT image in real time through buttons on the robotic arm or a touch screen to input the corresponding surgical navigation adjustment parameters. Then, the surgical navigation system can control the movement of the robotic arm end effector according to the surgical navigation adjustment parameters, so that the robotic arm end effector moves from the first physical space pose to the physical space pose of the calibration fixture, and acquires the cumulative adjustment amount. Until the operator observes that the robotic arm end effector has reached the physical space pose of the calibration fixture in the physical space, the recorded cumulative adjustment amount is used as the calibration parameter, so that the surgical navigation system performs the positioning calibration of the robotic arm end effector according to the calibration parameter.

[0100] In summary, the error calibration method for the surgical navigation system according to embodiments of the present invention utilizes a CT scanner to capture CT images of the surgical area, where a calibration fixture is installed. The CT images contain images of the calibration fixture. The method then identifies the target pose of the calibration fixture in the CT image and calculates the target motion amount from the current pose of the robotic arm's end effector to the target pose. Based on the target motion amount, the robotic arm's end effector is controlled to move to a first physical space pose. Next, surgical navigation adjustment parameters are acquired, and the robotic arm's end effector is controlled to move from the first physical space pose to the physical space pose of the calibration fixture. The cumulative adjustment amount is acquired and used as calibration parameters, enabling the surgical navigation system to perform positioning calibration of the robotic arm's end effector according to the calibration parameters. This effectively reduces the error of the surgical navigation system and improves system accuracy.

[0101] Based on the error calibration method of the surgical navigation system in the foregoing embodiments of the present invention, the present invention also proposes a computer-readable storage medium storing an error calibration program for the surgical navigation system thereon. When the error calibration program for the surgical navigation system is executed by a processor, it implements the error calibration method of the surgical navigation system in the foregoing embodiments of the present invention.

[0102] It should be understood that the specific implementation of the computer-readable storage medium in the embodiments of the present invention can be found in the specific implementation of the error calibration method of the surgical navigation system in the foregoing embodiments of the present invention, and will not be repeated here to reduce redundancy.

[0103] In summary, the computer-readable storage medium according to embodiments of the present invention can effectively reduce surgical navigation system errors and improve system accuracy by executing the error calibration program of the surgical navigation system stored thereon.

[0104] Figure 7 This is a block diagram of an error calibration device for a surgical navigation system according to an embodiment of the present invention.

[0105] Specifically, in some embodiments of the present invention, such as Figure 7 As shown, the error calibration device 300 of the surgical navigation system includes: an acquisition module 10, a control module 20, and a calibration module 30.

[0106] The acquisition module 10 is used to capture CT images of the surgical area using a CT scanner. A calibration fixture is set up in the surgical area, and the CT images contain images of the calibration fixture. The acquisition module 10 identifies the target pose of the calibration fixture in the CT images. The control module 20 calculates the target motion amount from the current pose of the robotic arm end effector to the target pose, and controls the movement of the robotic arm end effector according to the target motion amount to reach the first physical space pose. The calibration module 30 is used to acquire surgical navigation adjustment parameters and control the movement of the robotic arm end effector according to the surgical navigation adjustment parameters so that the robotic arm end effector moves from the first physical space pose to the physical space pose of the calibration fixture, and acquires the cumulative adjustment amount. The cumulative adjustment amount is used as a calibration parameter so that the surgical navigation system performs positioning calibration of the robotic arm end effector according to the calibration parameter.

[0107] Furthermore, in some embodiments of the present invention, the surgical navigation adjustment parameters include position adjustment parameters and / or direction adjustment parameters.

[0108] Furthermore, in some embodiments of the present invention, the calibration fixture includes a metal sphere and a metal rod, and the acquisition module 10 is further used to identify the center coordinates of the metal sphere and the axial direction of the metal rod in the CT image; and to use the center coordinates and axial direction as the target pose of the calibration fixture in the CT image.

[0109] Furthermore, in some embodiments of the present invention, the calibration fixture includes a metal sphere and a plastic base, and the acquisition module 10 is also used to identify the center coordinates of the metal sphere in the CT image; and to use the center coordinates of the sphere as the target pose of the calibration fixture in the CT image.

[0110] Furthermore, in some embodiments of the present invention, the calibration module 30 is also used to: obtain the location of the lesion based on the CT image; calculate a first motion amount from the current pose of the robotic arm end-effector to the target pose, and calculate a second motion amount from the target pose to the location of the lesion; calibrate the first motion amount using calibration parameters to obtain a third motion amount; and control the movement of the robotic arm end-effector based on the second and third motion amounts; or, calibrate the second motion amount using calibration parameters to obtain a fourth motion amount, and control the movement of the robotic arm end-effector based on the first and fourth motion amounts.

[0111] Furthermore, in some embodiments of the present invention, the calibration module 30 is also used to: obtain the location of the lesion based on the CT image; calculate a sixth motion quantity from the current pose of the robotic arm end tool to the location of the lesion; calibrate the sixth motion quantity using calibration parameters to obtain a seventh motion quantity; and control the movement of the robotic arm end tool based on the seventh motion quantity.

[0112] Furthermore, in some embodiments of the present invention, the surgical navigation system includes buttons or a touch display screen configured on a robotic arm, and surgical navigation adjustment parameters are input via the buttons or touch display screen.

[0113] Furthermore, in some embodiments of the present invention, the control module 20 is also configured to receive surgical navigation adjustment parameters input by the operator via a button or touch screen on the robotic arm, for controlling the movement of the robotic arm end-effector towards the calibration fixture. The surgical navigation adjustment parameters are determined by the operator based on observing the relative pose of the robotic arm end-effector and the calibration fixture in physical space. The operator controls the movement of the robotic arm end-effector based on the surgical navigation adjustment parameters, and repeats this step until the operator observes the physical spatial pose of the robotic arm end-effector reaching the calibration fixture.

[0114] Furthermore, in some embodiments of the present invention, the calibration module 30 is also used to: control the movement of the robotic arm end-effector according to the third motion amount to achieve a second physical space pose; when the second physical space pose is different from the physical space pose of the calibration fixture, acquire surgical navigation adjustment parameters, and control the movement of the robotic arm end-effector according to the surgical navigation adjustment parameters so that the robotic arm end-effector moves from the second physical space pose to the physical space pose of the calibration fixture, and acquire the cumulative adjustment amount; and superimpose the new cumulative adjustment amount onto the current calibration parameters to obtain and update the calibration parameters.

[0115] It should be understood that the specific implementation of the error calibration device of the surgical navigation system in the embodiments of the present invention corresponds one-to-one with the specific implementation of the error calibration method of the surgical navigation system in the foregoing embodiments of the present invention. To reduce redundancy, it will not be described again here.

[0116] In summary, the error calibration device for the surgical navigation system according to embodiments of the present invention acquires CT images of the surgical area using a CT scanner and identifies the target pose of the calibration fixture in the CT images. Then, the control module calculates the target motion amount from the current pose of the robotic arm end effector to the target pose, controls the movement of the robotic arm end effector based on the target motion amount to reach the first physical space pose. Furthermore, the calibration module acquires surgical navigation adjustment parameters and controls the movement of the robotic arm end effector based on these parameters, causing it to move from the first physical space pose to the physical space pose of the calibration fixture. The cumulative adjustment amount is then acquired and used as calibration parameters, enabling the surgical navigation system to perform positioning calibration of the robotic arm end effector according to these parameters. This effectively reduces the error of the surgical navigation system and improves system accuracy.

[0117] Figure 8 This is a block diagram of a surgical navigation system according to an embodiment of the present invention.

[0118] Specifically, in some embodiments of the present invention, such as Figure 8 As shown, the surgical navigation system 1000 includes the error calibration device 100 of the surgical navigation system described in the above embodiment of the present invention.

[0119] It should be understood that the specific implementation of the surgical navigation system in the embodiments of the present invention can refer to the specific implementation of the error calibration method of the surgical navigation system in the foregoing embodiments of the present invention. To reduce redundancy, it will not be described again here.

[0120] In summary, the surgical navigation system according to embodiments of the present invention, by employing the aforementioned error calibration device for surgical navigation systems, can effectively reduce surgical navigation system errors and improve system accuracy.

[0121] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0122] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0123] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0124] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or pose relationship based on the orientation or pose relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0125] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0126] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0127] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0128] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. An error calibration method for a surgical navigation system, characterized in that, The surgical navigation system includes a robotic arm and a tracer mounted on the robotic arm; The method includes: Acquire CT images, wherein the CT images contain images of the calibration fixture; Identify the target pose of the calibration fixture in the CT image; Calculate the target motion amount from the current pose of the robotic arm end-effector to the target pose, and control the movement of the robotic arm end-effector according to the target motion amount to reach the first physical space pose; Obtain surgical navigation adjustment parameters, and control the movement of the robotic arm end effector according to the surgical navigation adjustment parameters, so that the robotic arm end effector moves from the first physical space pose to the physical space pose of the calibration fixture, and obtain the cumulative adjustment amount; The cumulative adjustment amount is used as a calibration parameter, enabling the surgical navigation system to perform positioning calibration of the robotic arm end effector based on the calibration parameter.

2. The error calibration method for the surgical navigation system according to claim 1, characterized in that, The surgical navigation adjustment parameters include position adjustment parameters and / or direction adjustment parameters.

3. The error calibration method for the surgical navigation system according to claim 1, characterized in that, The calibration fixture includes a metal sphere and a metal rod. Identifying the target pose of the calibration fixture in the CT image includes: Identify the coordinates of the center of the metal sphere and the axial direction of the metal rod in the CT image; The coordinates of the sphere's center and the direction of the axis are used as the target pose of the calibration fixture in the CT image.

4. The error calibration method for the surgical navigation system according to claim 1, characterized in that, The calibration fixture includes a metal sphere and a plastic base. Identifying the target pose of the calibration fixture in the CT image includes: Identify the coordinates of the center of the metal sphere in the CT image; The coordinates of the sphere's center and the preset direction are used as the target pose of the calibration fixture in the CT image.

5. The error calibration method for the surgical navigation system according to claim 3 or 4, characterized in that, The step of enabling the surgical navigation system to perform robotic arm end-effector positioning calibration based on the calibration parameters includes: The target location is obtained from the CT image; Calculate a first motion from the current pose of the end effector of the robotic arm to the target pose, and calculate a second motion from the target pose to the target position; The first motion quantity is calibrated using the calibration parameters to obtain a third motion quantity. The movement of the end effector of the robotic arm is controlled based on the second motion quantity and the third motion quantity. Alternatively, the second motion quantity is calibrated using the calibration parameters to obtain a fourth motion quantity. The movement of the end effector of the robotic arm is controlled based on the first motion quantity and the fourth motion quantity.

6. The error calibration method for the surgical navigation system according to claim 3 or 4, characterized in that, The step of enabling the surgical navigation system to perform robotic arm end-effector positioning calibration based on the calibration parameters includes: The target location is obtained from the CT image; Calculate the sixth motion from the current pose of the end effector of the robotic arm to the target position; The sixth motion quantity is calibrated using the calibration parameters to obtain the seventh motion quantity, and the movement of the end effector of the robotic arm is controlled according to the seventh motion quantity.

7. The error calibration method for the surgical navigation system according to claim 1, characterized in that, The step of acquiring surgical navigation adjustment parameters and controlling the movement of the robotic arm end effector based on the surgical navigation adjustment parameters, so that the robotic arm end effector moves from the first physical space pose to the physical space pose of the calibration fixture, includes: The operator receives surgical navigation adjustment parameters input by the operator via buttons or a touch screen on the robotic arm to control the movement of the robotic arm end-effector toward the calibration fixture. These surgical navigation adjustment parameters are determined by the operator based on observation of the relative pose of the robotic arm end-effector and the calibration fixture in physical space. The operator controls the movement of the robotic arm end-effector according to the surgical navigation adjustment parameters, and repeats this step until the operator observes the physical pose of the robotic arm end-effector reaching the calibration fixture in physical space.

8. The error calibration method for the surgical navigation system according to claim 1, characterized in that, The method further includes: Calculate the target motion amount from the current pose of the robotic arm end-effector to the target pose, and calibrate the target motion amount according to the calibration parameters to obtain the calibrated motion amount; The robotic arm end-effector is controlled to move according to the calibrated motion amount, so as to reach the second physical space pose. When the second physical space pose is different from the physical space pose of the calibration fixture, surgical navigation adjustment parameters are obtained, and the movement of the robotic arm end tool is controlled according to the surgical navigation adjustment parameters so that the robotic arm end tool moves from the second physical space pose to the physical space pose of the calibration fixture, and the cumulative adjustment amount is obtained. The new cumulative adjustment is added to the current calibration parameters to obtain and update the calibration parameters.

9. A surgical navigation system, characterized in that, The surgical navigation system includes: CT scanner; Calibration fixture; robotic arm; A tracer, the tracer being mounted on the robotic arm; Error calibration device, the error calibration device comprising: The acquisition module is used to capture CT images using the CT scanner, the CT images containing images of the calibration fixture; and to identify the target pose of the calibration fixture in the CT images. The control module calculates the target motion amount from the current pose of the robotic arm end-effector to the target pose, and controls the movement of the robotic arm end-effector according to the target motion amount to reach the first physical space pose. The calibration module is used to acquire surgical navigation adjustment parameters and control the movement of the robotic arm end-effector according to the surgical navigation adjustment parameters, so that the robotic arm end-effector moves from the first physical space pose to the physical space pose of the calibration fixture, and acquires the cumulative adjustment amount; the cumulative adjustment amount is used as a calibration parameter, so that the surgical navigation system performs positioning calibration of the robotic arm end-effector according to the calibration parameter; A button or touch display screen, which is configured on the robotic arm and used to input the surgical navigation adjustment parameters.

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