A portable robotic multimodal neuro-navigation method and system

Abstract

The application provides a portable robot multimodal neural navigation method and system, the method comprising: acquiring an end coordinate of a surgical robot in real time; obtaining an end attitude matrix of a navigation rod on the surgical robot based on the end coordinate of the surgical robot; acquiring the end attitude matrix of the navigation rod by using 3Dslicer software; performing digital navigation rod navigation registration in the 3Dslicer software based on the end attitude matrix of the navigation rod; and performing intraoperative navigation by using the registered digital navigation rod. The application establishes a neural navigation method mainly based on a surgical robot, and does not rely on traditional optical and electromagnetic devices, thereby avoiding navigation failure caused by surgical operation or instrument obstruction.

Description

Technical Field

[0001] This application relates to the field of robot neural navigation technology, and in particular to a portable robot multimodal neural navigation method and system. Background Technology

[0002] Neurosurgical diseases (including cerebral hemorrhage, traumatic brain injury, acute hydrocephalus, brain tumors, and stroke) are characterized by complex anatomical localization, high surgical difficulty, and long training periods for specialists. One key challenge is the precise localization of lesions within the three-dimensional anatomy of the brain. To address this, the field of neurosurgery has developed products such as neuronavigation systems, intraoperative MRI, and surgical robots, which facilitate localization and assist in surgery. This underscores the crucial importance of precise localization of brain lesions.

[0003] Neuronavigation systems are fundamental lesion localization devices in minimally invasive neurosurgery. They provide real-time information to the surgeon about the current surgical site, enabling more accurate judgments and predictions. This allows for precise incisions, accurate approach design, precise target access, accurate determination of lesion boundaries, and clear identification of lesion location, avoiding damage to vital structures. However, current neuronavigation systems primarily rely on larger devices, such as optical and electromagnetic positioning equipment, for their navigation and registration methods.

[0004] However, the above-mentioned navigation registration methods have the following problems: 1. During the surgical procedure, the arm or surgical instruments may block optical or electromagnetic signals, causing navigation to fail; 2. Current neuronavigation systems are bulky and expensive, making them difficult to widely promote; 3. Existing neuronavigation systems, due to their reliance on optical or electromagnetic signal devices for positioning, coupled with computer equipment, result in numerous parts and complex operation; 4. After determining the navigation position, current navigation systems cannot fix the position to guide the specific direction of the surgery; 5. Current navigation systems struggle to achieve flexible multimodal fusion, thus hindering more accurate navigation of lesions and their relationship with surrounding major anatomical structures. Summary of the Invention

[0005] In view of the above problems, embodiments of this application provide a portable robot multimodal neural navigation method and system to overcome or at least partially solve the above problems.

[0006] In a first aspect, embodiments of this application provide a portable robot multimodal neural navigation method, the method comprising:

[0007] Real-time acquisition of the end-effector coordinates of the surgical robot;

[0008] Based on the end-effector coordinates of the surgical robot, the end-effector pose matrix of the navigation rod on the surgical robot is obtained;

[0009] Send the end attitude matrix of the navigation stick to the 3Dslicer software;

[0010] A Client connection object is constructed using 3D Slicer software, and the end pose matrix of the navigation stick is obtained in real time through the Client connection object;

[0011] Based on the end-effector pose matrix of the navigation rod, the position information of the navigation rod on the surgical robot is determined using the digital navigation rod of 3D Slicer software.

[0012] The 3D Slicer software was used to construct a multimodal 3D image of brain structure containing brain lesions, and a three-dimensional model of the head and face was derived from the multimodal 3D brain structure image.

[0013] Based on a 3D model of the head and face, the position and attitude of the digital navigation stick are registered using 3Dslicer software.

[0014] Intraoperative navigation is performed using a registered digital navigation stick.

[0015] Preferably, obtaining the end-effector pose matrix of the navigation rod on the surgical robot based on the end-effector coordinates includes:

[0016] Obtain the pose coordinates of the surgical robot's end effector at different times;

[0017] The end-effector attitude matrix of the navigation rod on the surgical robot is determined based on the obtained attitude coordinates of the end-effector.

[0018] Preferably, the step of constructing a Client connection object using 3D Slicer software and obtaining the end-effector pose matrix of the navigation stick in real time through the Client connection object includes:

[0019] In the IGT module of the 3D Slicer software, construct a Client connection object and set its receiving port number and receiving matrix;

[0020] Listen for data on the receiving port of the Client connection object, obtain the end attitude matrix of the incoming navigation stick in real time, and save it to the receiving matrix.

[0021] Preferably, the determination of the position information of the navigation rod on the surgical robot based on the end effector pose matrix of the navigation rod and using the digital navigation rod of 3D Slicer software includes:

[0022] The attitude coordinates of the end of the navigation stick are obtained through the end attitude matrix of the navigation stick.

[0023] The attitude coordinates of the end of the navigation rod are assigned to the digital navigation rod in the 3D Slicer software, thereby determining the real-time position of the navigation rod on the surgical robot in the 3D Slicer software.

[0024] Preferably, based on a 3D model of the head and face, the position and attitude of the digital navigation stick are registered using 3Dslicer software, including:

[0025] Three first matching points are marked at different locations on the three-dimensional model of the head and face, and a label list to is created in the 3DSlicer software to store the coordinates of the three first matching points.

[0026] Three second matching points were marked on the head and face of the actual patient. The positions of the second matching points corresponded to the positions of the first matching points. A label list From was created in the 3D Slicer software to store the coordinates of the three second matching points.

[0027] Based on the label list to and the label list From, construct the first transformation matrix from the second matching point to the first matching point;

[0028] The coordinates stored in the receiving matrix are transformed by the first transformation matrix to obtain the transformed receiving matrix;

[0029] Based on the transformed receiver matrix, the facial surface of the actual patient is matched with the facial surface of the three-dimensional facial model.

[0030] Preferably, the matching of the actual patient's facial surface with the facial surface of the three-dimensional head and face model based on the transformed reception matrix includes:

[0031] Create a list of labels called Points in the 3D Slicer software;

[0032] The navigation rod on the surgical robot is moved randomly over the patient's head and face. The coordinates of the contact points between the end of the navigation rod and the patient's head and face skin are collected at each movement. The coordinates of all the contact points are stored in the label list Points.

[0033] Based on the label list Points and the 3D model of the head and face, a second transformation matrix is ​​established between the 3D model of the head and face and the collected coordinates of the contact points.

[0034] The transformed receiving matrix is ​​transformed again by the second transformation matrix to obtain the final transformation matrix;

[0035] Based on the coordinates in the transformation matrix, the real-time position of the navigation rod on the surgical robot, determined by the digital navigation rod, is accurately correlated with the patient's position.

[0036] Secondly, embodiments of this application provide a portable robot multimodal neural navigation system, the system comprising:

[0037] The coordinate acquisition module is used to acquire the end-effector coordinates of the surgical robot in real time.

[0038] The attitude matrix calculation module is used to obtain the end-effector attitude matrix of the navigation rod on the surgical robot based on the end-effector coordinates.

[0039] The attitude matrix acquisition module is used to acquire the end attitude matrix of the navigation stick using 3Dslicer software;

[0040] The navigation registration module is used to perform digital navigation registration of the navigation stick in the 3Dslicer software based on the end pose matrix of the navigation stick.

[0041] The navigation module is used for intraoperative navigation using a registered digital navigation stick.

[0042] The attitude matrix acquisition module includes:

[0043] The data transmission submodule is used to send the end attitude matrix of the navigation stick to the 3Dslicer software;

[0044] The matrix acquisition submodule uses 3D Slicer software to construct a Client connection object and obtains the end pose matrix of the navigation stick in real time through the Client connection object.

[0045] The registration module includes:

[0046] The head and face 3D model export submodule is used to construct a multimodal brain structure 3D image containing brain lesions using 3D Slicer software, and export a head and face 3D model from the multimodal brain structure 3D image.

[0047] The position and attitude registration submodule is used to register the position and attitude of the digital navigation stick based on the 3D model of the head and face using 3Dslicer software.

[0048] Compared with the prior art, the specific beneficial effects of the present invention are as follows:

[0049] First, this invention establishes a neuro-navigation method based on surgical robots, which does not rely on traditional optical or electromagnetic equipment, thereby avoiding navigation failure caused by surgical operations or instrument obstruction.

[0050] Secondly, this application only requires a surgical robot and a computer connected to it, which simplifies the system composition, reduces the size, makes it easy to carry and move, and makes the operation more flexible and convenient.

[0051] Furthermore, by using 3D Slicer software to construct multimodal fused 3D images of brain structures, this application can overcome the problem of traditional navigation software being fixed and unable to be expanded.

[0052] Finally, since traditional navigation rods are free and independent and need to be held by hand, it is impossible to guarantee that the angle is the same every time. That is, the navigation rod cannot be precisely fixed in traditional navigation. Therefore, this invention uses a robot that can fix the angle of the surgical approach during navigation, avoiding the disadvantage that the surgical angle is difficult to determine because the navigation rod cannot be fixed in angle. Attached Figure Description

[0053] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 This is a flowchart of the neural navigation method provided in the embodiments of this application;

[0055] Figure 2 This application provides an embodiment of an operation interface for setting up a 3D slicer to receive transformation matrices from robot coordinates.

[0056] Figure 3 This is the operation interface for setting the first matching point and the second matching point provided in the embodiments of this application.

[0057] Figures 4(a)-(b) show the operation interface for collecting multiple mobile acquisition points on the head and face of an actual patient, as provided in the embodiments of this application.

[0058] Figure 5 This is a schematic diagram of the neural navigation process provided in the embodiments of this application.

[0059] Figure 6 This is a logic block diagram of the neural navigation system provided in the embodiments of this application. Detailed Implementation

[0060] Exemplary embodiments of this application will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of this application and to fully convey the scope of this application to those skilled in the art.

[0061] Reference Figure 1 , Figure 1 This application provides a flowchart illustrating a portable robot multimodal neural navigation method, which may include:

[0062] Step 1: Obtain the end effector coordinates of the surgical robot in real time.

[0063] In the embodiments of this application, the surgical robot used is a commercial-grade robotic arm, such as UR Robotics, which has the function of providing end-effector position in real time. The surgical robot used in this application is a commercially available product, and no improvements to the surgical robot are involved.

[0064] By employing a surgical robot capable of providing end-effector coordinates in real time, the end-effector coordinates (x, y, z, rx, ry, yz) can be obtained in real time, where x, y, and z are the coordinates of the end-effector; and rx, ry, and rz are the Euler angles of the end-effector's pose.

[0065] Step 2: Based on the end-effector coordinates of the surgical robot, obtain the end-effector pose matrix of the navigation rod on the surgical robot.

[0066] In the embodiments of this application, firstly, the attitude coordinates End(x,y,z,rx,ry,yz) of the surgical robot's end effector are acquired in real time; secondly, since the end effector of the surgical robot's robotic arm holds a navigation rod of length L, the attitude coordinates of the end effector of the navigation rod relative to the end effector of the surgical robot are Tool2End = (0,0,L,0,0,0). Based on the attitude coordinates Tool2End, the attitude matrix Matrix_navigateEnd of the navigation rod's end effector is obtained as follows:

[0067]

[0068] in, ry = θ, rz = ψ;

[0069] The transformation formula for the end-point attitude matrix Matrix_navigateEnd of the navigation stick is:

[0070] Matrix_navigateEnd=Matrix_end.dot(Matrix_Tool2end);

[0071] Where Matrix_Tool2end represents the matrix of the end of the navigation stick relative to the end of the robot; Matrix_end represents the pose matrix of the end of the robot.

[0072] Step 3: Send the end pose matrix of the navigation stick to the 3Dslicer software.

[0073] In the embodiments of this application, 3D Slicer software is an open-source, free, interdisciplinary medical image analysis and visualization platform that is used in fields such as medical image processing, 3D modeling, surgical planning and navigation.

[0074] Step 4: Use 3D Slicer software to construct the Client connection object.

[0075] In the embodiments of this application, a new Client connection object can be created in the OpenIGTLink function interface of the 3Dslicer's IGT module, and its receiving port number can be set, such as 18944. A receiving matrix named "NavigateTool" can be created to receive attitude coordinate information from external hardware (the navigation rod of the surgical robot), and placed under the "IN" entry of the Client object, such as... Figure 2 As shown.

[0076] In the embodiments of this application, by establishing a Client connection object, the end attitude matrix of the navigation stick can be received in real time, thereby obtaining the attitude coordinates of the end of the navigation stick.

[0077] Step 5: In the 3D Slicer software, use the Client connection object to obtain the end pose matrix of the navigation stick in real time.

[0078] In the embodiments of this application, the end pose matrix Matrix_navigateEnd of the navigation stick is sent to the Client connection object of the 3D Slicer software in real time. By listening to the data on the receiving port number, the end pose matrix of the navigation stick can be obtained in real time and stored in the receiving matrix NavigateTool. The pose coordinates of the end of the navigation stick can be obtained according to NavigateTool.

[0079] Step 6: Based on the end-effector pose matrix of the navigation rod, the position information of the navigation rod on the surgical robot is determined using the digital navigation rod of the 3D Slicer software.

[0080] In the embodiments of this application, the end pose matrix of the navigation stick stored in NavigateTool is read in real time from the Client connection object of the 3D Slicer software to obtain the pose coordinates of the navigation stick end. The read pose coordinate values ​​of the navigation stick end are then assigned to the digital navigation stick of the 3D Slicer software, enabling it to display the real-time position of the actual navigation stick on the computer. However, it is worth noting that the position and pose of the navigation stick are not registered at this time. Therefore, the displayed real-time position may be inaccurate and cannot truly reflect the spatial relationship between the actual navigation stick and the patient. Subsequent navigation registration is still required to accurately associate the actual navigation stick with the patient's position.

[0081] Step 7: Use 3D Slicer software to construct a multimodal 3D image of brain structure containing brain lesions, and export a three-dimensional model of the head and face from the multimodal 3D brain structure image.

[0082] In the embodiments of this application, based on the previous research results of this application, namely the multimodal brain structure 3D image reconstruction method disclosed in the patent no. CN115880425B "A Labeled Three-Dimensional Multimodal Brain Structure Fusion Reconstruction Method for Brain Tumors", a multimodal brain structure 3D image containing brain lesions can be constructed using 3D Slicer. Based on this multimodal brain structure 3D image, a three-dimensional model of the patient's head and face can be directly exported from the multimodal brain structure 3D image using 3D Slicer software. The exported head and face 3D model is of type "model" and named "skin".

[0083] Step 8: Register the position and attitude of the digital navigation stick using 3D Slicer software.

[0084] As mentioned above, although the real-time position of the actual navigation stick can be displayed on the computer in step 6, the position and attitude are not registered, so the position information is not accurate. Therefore, position and attitude registration is performed in this step to accurately associate it with the patient's position.

[0085] Optionally, step 8 includes the following sub-steps:

[0086] Sub-step 801: Mark three first matching points in the three-dimensional head and face model exported in step 7. The three first matching points are in different positions. Three non-overlapping points can be selected in the three-dimensional head and face model as the first matching points. For example, they can be located at the tip of the nose, the root of the nose and the middle of the left eyebrow arch.

[0087] In the embodiments of this application, firstly, in the IGT→Fiducial RegistrationWizard interface of the 3D Slicer software, a new MarkupsFiducial tag list is created and named "to";

[0088] Next, three first matching points were marked in the 3D model of the head and face. These three first matching points are located at the tip of the nose, the root of the nose, and the middle of the left eyebrow arch, respectively. Figure 3 As shown in the figure, the three orange dots on the green 3D model are the three first matching points, and the coordinates of the three first matching points are stored in the label list to.

[0089] Sub-step 802: Mark three second matching points on the head and face of the actual patient, with the second matching points corresponding to the positions of the first matching points;

[0090] In the embodiments of this application, firstly, in the IGT→Fiducial RegistrationWizard interface of the 3D Slicer software, a new MarkupsFiducial tag list is created and named "From". Then, "Place fiducials using transforms" is expanded, and in 'Place from', the NavigateTool for receiving matrices is selected. Click to place marker points, and mark three points on the patient's head and face corresponding to the positions of the first matching points. The marked positions are consistent with the positions of the first matching points stored in "to". When placing the markers, the positions only need to be roughly consistent and do not need to be particularly precise. Figure 3 As shown in the figure, the white 3D model represents the patient's scalp surface, and the three orange points on it are the second matching points, which correspond to the positions of the first matching points. Finally, the coordinates of the three second matching points of the patient's head and face are stored in the label list From.

[0091] After placement, click on the "Registration result(From→To)transform" panel to create a new transformation matrix named "NavigateInit" to store the transformation between the markers in the label list From and the markers in the label list to.

[0092] Finally, click the "update" button to save the transformation from From to to into the transformation matrix NavigateInit. Then, in the Data→Subject interface, apply the transformation matrix NavigateInit to NavigateTool, which means that the pose of the receiving matrix NavigateTool will be transformed through the transformation matrix NavigateInit.

[0093] Sub-step 803: Match the actual patient's head and face surface with the head and face surface of the 3D head and face model constructed in the 3D Slicer software.

[0094] In the embodiments of this application, such as Figures 4(a)-4(b) As shown, in the 3D Slicer software, go to IGT→Fiducial RegistrationWizard, create a new third MarkupsFiducial tag list, and name it "Points". Randomly move the actual navigation rod held by the surgical robot across the patient's head and face. Each time it moves, acquire the coordinates of the contact point between the end of the navigation rod and the patient's facial skin, and store these coordinates in the "Points" tag list, thus collecting one point. Collect as many points as possible; for example, after collecting 20-30 points, store the coordinates of all collected points sequentially in the "Points" tag list, and then enter the Fiducial-ModelRegistration interface.

[0095] In the Fiducial-Model Registration interface, select the "Points" tab in "Input fiducials," and then select the 3D facial model skin in "Input model." Next, create a new transformation matrix in "Output transform" and name it "NavigateSurface." Click "Apply" to construct the transformation matrix NavigateSurface. This NavigateSurface contains the transformation matrix between the points acquired in Points and the 3D facial model skin. Finally, in the Data→Subject interface, apply the NavigateSurface transformation matrix to the aforementioned NavigateInit, transforming NavigateInit again through the NavigateSurface to obtain the final transformation matrix. Based on the coordinates in this final transformation matrix, the real-time position of the navigation rod on the surgical robot, determined by the digital navigation rod, can be accurately correlated with the patient's position.

[0096] Step 9: Use a digital navigation stick for intraoperative navigation in the 3D Slicer software.

[0097] The previous step completed navigation registration in the 3D Slicer software. Next, the navigation rod held by the surgical robot can be moved to different positions on the actual patient's face. Simultaneously, the position of the digital navigation rod in the 3D head and face model skin of the 3D Slicer software is observed to verify the navigation effect. Finally, a structure including brain functional areas, blood vessels, and nerve fiber bundles can be constructed according to the "A Labeled 3D Multimodal Brain Structure Fusion Reconstruction Method for Brain Tumors." The navigation method provided by this invention accurately determines the location of the surgery and its surrounding adjacent structures. Figure 5 As shown.

[0098] refer to Figure 6 , Figure 6 A logic block diagram of a portable robot multimodal neural navigation system provided in this application embodiment, the system may include:

[0099] The coordinate acquisition module is used to acquire the end-effector coordinates of the surgical robot in real time.

[0100] The attitude matrix calculation module is used to obtain the end-effector attitude matrix of the navigation rod on the surgical robot based on the end-effector coordinates.

[0101] The attitude matrix acquisition module is used to acquire the end attitude matrix of the navigation stick using 3Dslicer software;

[0102] The position information determination module is used to determine the position information of the navigation rod on the surgical robot based on the end pose matrix of the navigation rod and using the digital navigation rod of 3D Slicer software.

[0103] The registration module is used to register the position and attitude of the digital navigation stick in the 3Dslicer software;

[0104] The navigation module is used for intraoperative navigation using a registered digital navigation stick.

[0105] The attitude matrix acquisition module includes:

[0106] The data transmission submodule is used to send the end attitude matrix of the navigation stick to the 3Dslicer software;

[0107] The matrix acquisition submodule uses 3D Slicer software to construct a Client connection object and obtains the end pose matrix of the navigation stick in real time through the Client connection object.

[0108] The registration module includes:

[0109] The head and face 3D model export submodule is used to construct a multimodal brain structure 3D image containing brain lesions using 3D Slicer software, and export a head and face 3D model from the multimodal brain structure 3D image.

[0110] The position and attitude registration submodule is used to register the position and attitude of the digital navigation stick based on the 3D model of the head and face using 3Dslicer software.

[0111] The portable robot multimodal neural navigation system in this application embodiment can be an electronic device or a component within an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices besides a terminal. For example, the electronic device can be a GPU box, mobile phone, tablet computer, laptop computer, PDA, in-vehicle electronic device, mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc. It can also be a server, network attached storage (NAS), personal computer (PC), television (TV), ATM, or self-service machine, etc. This application embodiment does not specifically limit the specific implementation.

[0112] The portable robot multimodal neural navigation system in this application embodiment can be a device with an operating system. This operating system can be Android, Linux, Windows, or other possible operating systems; this application embodiment does not specifically limit it.

[0113] The model training device provided in this application embodiment can achieve... Figure 1 The various processes implemented in the method implementation examples will not be described again here to avoid repetition.

[0114] Although preferred embodiments of the present application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present application.

[0115] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0116] The above provides a detailed description of a portable robot multimodal neural navigation method and system provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A portable robot multimodal neural navigation system, characterized in that, It is also used to implement a neural navigation method, wherein: The method includes: Real-time acquisition of the end-effector coordinates of the surgical robot; Based on the end-effector coordinates of the surgical robot, the end-effector pose matrix of the navigation rod on the surgical robot is obtained; Send the end attitude matrix of the navigation stick to the 3Dslicer software; A Client connection object is constructed using 3D Slicer software, and the end pose matrix of the navigation stick is obtained in real time through the Client connection object; Based on the end-effector pose matrix of the navigation rod, the position information of the navigation rod on the surgical robot is determined using the digital navigation rod of 3D Slicer software. The 3D Slicer software was used to construct a multimodal 3D image of brain structure containing brain lesions, and a three-dimensional model of the head and face was derived from the multimodal 3D brain structure image. Based on a 3D model of the head and face, the position and attitude of the digital navigation stick are registered using 3Dslicer software. Intraoperative navigation is performed using a registered digital navigation stick; The real-time acquisition of the end-effector coordinates of the surgical robot includes: acquiring the end-effector coordinates (x, y, z, rx, ry, yz) of the surgical robot in real time by using a surgical robot equipped with the function of providing end-effector coordinates in real time, wherein x, y, and z are the coordinates of the end-effector of the surgical robot; and rx, ry, and rz are the Euler angles of the end-effector posture of the surgical robot. The process of obtaining the end-effector pose matrix of the navigation rod on the surgical robot based on the end-effector coordinates includes: Obtain the pose coordinates of the surgical robot's end effector at different times; The end effector of the surgical robot arm holds a navigation rod of length L. At this time, the orientation coordinates of the end effector of the navigation rod relative to the end effector of the surgical robot are Tool2End=(0,0,L, 0,0,0). Based on the obtained attitude coordinates of the surgical robot's end effector, the end effector matrix Matrix_navigateEnd on the surgical robot is determined as follows: ； in, ; Furthermore, the transformation formula for the end-point attitude matrix Matrix_navigateEnd of the navigation stick is: Matrix_navigateEnd=Matrix_end.dot(Matrix_Tool2end), Where Matrix_Tool2end represents the matrix of the end of the navigation stick relative to the end of the robot; Matrix_end represents the pose matrix of the end of the robot. The system includes: The coordinate acquisition module is used to acquire the end-effector coordinates of the surgical robot in real time. The attitude matrix calculation module is used to obtain the end-effector attitude matrix of the navigation rod on the surgical robot based on the end-effector coordinates. The attitude matrix acquisition module is used to acquire the end attitude matrix of the navigation stick using 3Dslicer software; The position information determination module is used to determine the position information of the navigation rod on the surgical robot based on the end pose matrix of the navigation rod and using the digital navigation rod of 3D Slicer software. The registration module is used to register the position and attitude of the digital navigation stick in the 3Dslicer software; The navigation module is used for intraoperative navigation using a registered digital navigation stick; The attitude matrix acquisition module includes: The data transmission submodule is used to send the end attitude matrix of the navigation stick to the 3Dslicer software; The matrix acquisition submodule uses 3D Slicer software to construct a Client connection object and obtains the end pose matrix of the navigation stick in real time through the Client connection object; The registration module includes: The head and face 3D model export submodule is used to construct a multimodal brain structure 3D image containing brain lesions using 3D Slicer software, and export a head and face 3D model from the multimodal brain structure 3D image. The position and attitude registration submodule is used to register the position and attitude of the digital navigation stick based on the 3D model of the head and face using 3Dslicer software.

2. The system according to claim 1, characterized in that, The process of constructing a Client connection object using 3D Slicer software and obtaining the end-effector pose matrix of the navigation stick in real time through the Client connection object includes: In the IGT module of the 3D Slicer software, construct a Client connection object and set its receiving port number and receiving matrix; Listen for data on the receiving port of the Client connection object, obtain the end attitude matrix of the incoming navigation stick in real time, and save it to the receiving matrix.

3. The system according to claim 2, characterized in that, The end effector attitude matrix based on the navigation rod, which uses the 3DSlicer software to determine the position information of the navigation rod on the surgical robot, includes: The attitude coordinates of the end of the navigation stick are obtained through the end attitude matrix of the navigation stick. The attitude coordinates of the end of the navigation rod are assigned to the digital navigation rod in the 3D Slicer software, thereby determining the real-time position of the navigation rod on the surgical robot in the 3D Slicer software.

4. The system according to claim 3, characterized in that, Based on a 3D model of the head and face, the position and pose of the digital navigation stick are registered using 3Dslicer software, including: Three first matching points are marked at different locations on the three-dimensional model of the head and face, and a label list to is created in the 3D Slicer software to store the coordinates of the three first matching points. Three second matching points were marked on the head and face of the actual patient. The positions of the second matching points corresponded to the positions of the first matching points. A label list From was created in the 3D Slicer software to store the coordinates of the three second matching points. Based on the label list to and the label list From, construct the first transformation matrix from the second matching point to the first matching point; The coordinates stored in the receiving matrix are transformed by the first transformation matrix to obtain the transformed receiving matrix; Based on the transformed receiver matrix, the facial surface of the actual patient is matched with the facial surface of the three-dimensional facial model.

5. The system according to claim 4, characterized in that, The process of matching the actual patient's facial contours with the facial contours of the three-dimensional head and face model based on the transformed receiver matrix includes: Create a list of labels called Points in the 3D Slicer software; The navigation rod on the surgical robot is moved randomly over the patient's head and face. The coordinates of the contact points between the end of the navigation rod and the patient's head and face skin are collected at each movement. The coordinates of all the contact points are stored in the label list Points. Based on the label list Points and the 3D model of the head and face, a second transformation matrix is ​​established between the 3D model of the head and face and the collected coordinates of the contact points. The transformed receiving matrix is ​​transformed again by the second transformation matrix to obtain the final transformation matrix; Based on the coordinates in the transformation matrix, the real-time position of the navigation rod on the surgical robot, determined by the digital navigation rod, is accurately correlated with the patient's position.

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