Surgical robotic navigation systems, methods, and media

Abstract

The application relates to a surgical robot navigation system, method and medium. The surgical robot comprises a patient operating trolley and a mechanical arm, the axes of the moving joints of the mechanical arm intersect at a mechanical fixed point, the patient operating trolley comprises an adjusting component for adjusting the position of the surgical robot; the system comprises a fixing device and at least two groups of light emitters; the fixing device is arranged at the mounting position of the surgical robot, so that the ray path of the light emitted by the at least two groups of light emitters passes through the mechanical fixed point without being blocked; the at least two groups of light emitters are fixed to the surgical robot through the fixing device and are configured to project light rays with a target pattern; the position of the surgical robot is adjusted through the adjusting component until the light rays emitted by the at least two groups of light emitters intersect at the mechanical fixed point and form a closed projection pattern, and the mechanical fixed point coincides with a target operation position. The method can improve the navigation accuracy.

Description

Technical Field

[0001] This application relates to the field of intelligent medical technology, and in particular to a surgical robot navigation system, method and medium. Background Technology

[0002] In minimally invasive surgical procedures involving surgical robots, the surgical platform typically requires preoperative adjustment and positioning. This involves marking the puncture site on the patient's body surface, and then repeatedly adjusting the position and orientation of the surgical platform based on these marks to obtain a relative position and orientation determined through experience. This allows for docking of the trocar with the robot, establishing a connection between the surgical robot and the patient. This method of adjusting the surgical platform based on fuzzy positional perception is cumbersome, has low positioning accuracy, and wastes preoperative preparation time. Summary of the Invention

[0003] Therefore, it is necessary to provide a surgical robot navigation system, method, and medium that can improve navigation accuracy in response to the above-mentioned technical problems.

[0004] In a first aspect, this application also provides a surgical robot navigation system, wherein the surgical robot includes a patient operating table and a robotic arm, the axes of each movable joint of the robotic arm intersect at a fixed mechanical point, the patient operating table includes an adjustment component for adjusting the position of the surgical robot; the system includes a fixing device and at least two sets of light emitters;

[0005] The fixing device is positioned at the installation location of the surgical robot so that the ray paths of the light emitted by the at least two sets of light emitters pass through the mechanical stationary point without obstruction.

[0006] The at least two sets of light emitters are fixed to the surgical robot by the fixing device, and the at least two sets of light emitters are configured to project light rays with a target pattern; if the light rays emitted by the at least two sets of light emitters do not intersect at the mechanical fixed point and form a closed projection pattern, or if the mechanical fixed point does not coincide with the target surgical position, the position of the surgical robot is adjusted by the adjusting component until the light rays emitted by the at least two sets of light emitters intersect at the mechanical fixed point and form a closed projection pattern, and the mechanical fixed point coincides with the target surgical position.

[0007] In one embodiment, the robotic arm includes a suspension, a first arc-shaped arm, and a second arc-shaped arm, and the fixing device is fixed at at least two of the suspension, the first arc-shaped arm, and the second arc-shaped arm; the mounting positions of the fixing device are symmetrically distributed on both sides of the suspension, the first arc-shaped arm, or the second arc-shaped arm, or asymmetrically distributed on the same side.

[0008] In one embodiment, the fixing device includes a fixing base and a reflector; the fixing base is fixed to the robotic arm, the reflector is mounted on the side of the fixing base away from the robotic arm, the light emitter is fixed to the side of the fixing base close to the robotic arm, and the light rays emitted by the light emitter pass through the fixed mechanical point after being reflected by the reflector.

[0009] In one embodiment, the target pattern is a non-closed pattern, and the light rays emitted by the two sets of light emitters intersect at the mechanical fixed point to form a closed projection pattern. Above and below the mechanical fixed point, the projection patterns corresponding to the light rays exhibit an asymmetrical distribution.

[0010] In one embodiment, if the projection point of the light rays projected by the at least two sets of light emitters is not located on the patient's body surface, the surgical robot is moved until the projection point of the light rays projected by the at least two sets of light emitters is located on the patient's body surface.

[0011] In one embodiment, the adjustment component includes a top plate rotation joint and a top plate telescopic joint for adjusting the horizontal direction;

[0012] If the horizontal distance between the intersection of the light rays projected by the at least two sets of light emitters and the target surgical position is greater than a first distance threshold, adjust the top plate rotation joint and the top plate extension joint until the horizontal distance between the intersection of the light rays projected by the at least two sets of light emitters and the target surgical position is less than or equal to the first distance threshold.

[0013] In one embodiment, the adjusting component includes a top plate lifting column joint for adjusting the vertical direction;

[0014] Based on the projection pattern of the light rays projected by the at least two sets of light emitters on the patient's body surface, the projection image type is determined, and the top plate lifting column joint is adjusted based on the projection image type until the closed projection pattern formed by the light rays projected by the at least two sets of light emitters coincides with the target surgical position on the patient's body surface.

[0015] In one embodiment, the system further includes an image system; the image system includes an image acquisition device and an image processing device;

[0016] The image acquisition device is installed in the robotic arm and is used to acquire the projection images of the light rays from the at least two sets of light emitters on the patient's body surface.

[0017] The image processing device is used to process the projected image to obtain a projected image type, and generate a control command for the top plate lifting column joint based on the projected image type. The control command is sent to the top plate lifting column joint to adjust the top plate lifting column joint until the closed projection pattern formed by the light rays projected by the at least two sets of light emitters coincides with the target surgical position on the patient's body surface.

[0018] In one embodiment, the image acquisition device is a monocular camera or a binocular camera;

[0019] When the image acquisition device is a monocular camera, the image processing device is used to determine the features of the projected image acquired by the image acquisition device, and to determine the relative position of the closed projected shape and the mechanical fixed point based on the features of the projected image, and to generate control commands for the top plate lifting column joint based on the relative position.

[0020] When the image acquisition device is a binocular camera, the image processing device is used to determine the features of the projected image acquired by the image acquisition device, and determine the distance between the projected image and the binocular camera based on the features of the projected image. Based on the position of the binocular camera and the mechanical fixed point in the coordinate system corresponding to the surgical robot, and the distance between the projected image and the binocular camera, the device generates control commands for the top plate lifting column joint.

[0021] In one embodiment, the system further includes:

[0022] An interactive interface is provided for selecting a mode, which includes a manual mode and an automatic mode. In the manual mode, the lifting column joint of the top plate is adjusted manually. In the automatic mode, the lifting column joint of the top plate is adjusted by control commands.

[0023] Secondly, this application also provides a surgical robot navigation method, wherein the surgical robot includes a patient operating table and a robotic arm, the axes of each movable joint of the robotic arm intersect at a fixed mechanical point, and the patient operating table includes an adjustment component for adjusting the position of the surgical robot; the method includes:

[0024] If the projection points of the light rays projected by at least two sets of light emitters are not located on the patient's body surface, move the surgical robot until the projection points of the light rays projected by the at least two sets of light emitters are located on the patient's body surface.

[0025] If the horizontal distance between the intersection of the light rays projected by the at least two sets of light emitters and the target surgical position is greater than a first distance threshold, adjust the top plate rotation joint and the top plate telescopic joint in the surgical robot until the horizontal distance between the intersection of the light rays projected by the at least two sets of light emitters and the target surgical position is less than or equal to the first distance threshold.

[0026] Based on the projection pattern of the light rays projected by the at least two sets of light emitters on the patient's body surface, the projection image type is determined, and the lifting column joint of the surgical robot is adjusted based on the projection image type until the closed projection pattern formed by the light rays projected by the at least two sets of light emitters coincides with the target surgical position on the patient's body surface.

[0027] In one embodiment, the method further includes:

[0028] The projection images of the light rays from the at least two sets of light emitters on the patient's body surface are acquired by the image acquisition device;

[0029] The process of determining the projection image type based on the projection pattern of the light rays projected by the at least two sets of light emitters on the patient's body surface, and adjusting the lifting column joint of the surgical robot's top plate based on the projection image type until the closed projection pattern formed by the light rays projected by the at least two sets of light emitters coincides with the target surgical position on the patient's body surface includes:

[0030] The projected image is processed to obtain a projected image type, and a control command for the top plate lifting column joint is generated based on the projected image type. The control command is sent to the top plate lifting column joint to adjust the top plate lifting column joint until the closed projection pattern formed by the light rays projected by the at least two sets of light emitters coincides with the target surgical position on the patient's body surface.

[0031] In one embodiment, processing the projected image to obtain a projected image type, and generating control commands for the top plate lifting column joint based on the projected image type, includes:

[0032] When the image acquisition device is a monocular camera, the features of the projected image are determined based on the projected image acquired by the image acquisition device, and the relative position of the closed projected shape and the mechanical fixed point is determined based on the features of the projected image. Based on the relative position, the control command of the top plate lifting column joint is generated.

[0033] When the image acquisition device is a binocular camera, the features of the projected image are determined based on the projected image acquired by the image acquisition device, and the distance between the projected image and the binocular camera is determined based on the projected image features. Based on the position of the binocular camera and the mechanical fixed point in the coordinate system corresponding to the surgical robot, and the distance between the projected image and the binocular camera, control commands for the top plate lifting column joint are generated.

[0034] Thirdly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the methods in any of the above embodiments.

[0035] The aforementioned surgical robot navigation system, method, and medium include a surgical robot comprising a patient operating table and a robotic arm, wherein the axes of the movable joints of the robotic arm intersect at a fixed mechanical point, and the patient operating table includes adjustment components for adjusting the position of the surgical robot; the system includes a fixing device and at least two sets of light emitters; the fixing device is positioned at the surgical robot such that the ray paths of the light emitted by the at least two sets of light emitters pass through the fixed mechanical point without obstruction; the at least two sets of light emitters are fixed to the surgical robot by the fixing device, and the at least two sets of light emitters are configured to project light rays with a target pattern; in the... If the light rays emitted by at least two sets of light emitters do not intersect at the mechanical fixed point and form a closed projection pattern, or if the mechanical fixed point does not coincide with the target surgical position, the position of the surgical robot is adjusted by the adjustment component until the light rays emitted by at least two sets of light emitters intersect at the mechanical fixed point and form a closed projection pattern, and the mechanical fixed point coincides with the target surgical position. The system indicates the position of the mechanical fixed point by the convergence of dual or multiple light projections, and feeds back the invisible spatial point to the operator in the form of image projection, thereby guiding the operator to quickly navigate the position and posture of the patient's operating table, reducing navigation difficulty and improving navigation accuracy. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 One embodiment is a surgical robot system;

[0038] Figure 2 This is a structural diagram of the C-arm with varying sizes in one embodiment;

[0039] Figure 3 This is a schematic diagram of a surgical robot navigation system in one embodiment;

[0040] Figure 4 Here are example diagrams showing different layout schemes in one embodiment;

[0041] Figure 5 This is an example diagram illustrating the installation method of a laser projector in one embodiment;

[0042] Figure 6 Here is an example diagram of the target graphic in one embodiment;

[0043] Figure 7 This is a schematic diagram of a navigation method for a surgical robot navigation system in one embodiment;

[0044] Figure 8 This is a schematic diagram of the laser projection cross-section in one embodiment;

[0045] Figure 9 A flowchart of the manual mode in one embodiment;

[0046] Figure 10 This is a schematic diagram of the trolley's interactive interface in one embodiment;

[0047] Figure 11 This is a schematic diagram of the automatic mode corresponding to an RGB camera in one embodiment;

[0048] Figure 12 This is a flowchart of an automatic mode method for an RGB camera in one embodiment;

[0049] Figure 13 This is a schematic diagram of the automatic mode corresponding to a binocular camera in one embodiment;

[0050] Figure 14 This is a flowchart of an automatic mode method corresponding to a binocular camera in one embodiment;

[0051] Figure 15 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0053] It should be noted that the terms "first," "second," etc., used in this application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.

[0054] Combination Figure 1 As shown, Figure 1 One embodiment includes a surgical robot system comprising a doctor's console, a patient surgical platform, and an imaging platform.

[0055] The surgeon's console is the control center of a surgical system, such as a laparoscopic single-port surgical system. It includes a main control arm (5), an adjustment carriage (1), a 3D monitor (2), a surgeon's armrest (3), and a footrest panel (4). The operator holds the ends of the two main control arms on the surgeon's armrest. The system uses the operator's hand movements as motion control input. The adjustment carriage has a footrest panel with multiple foot switches of different functions. These switches detect the operator's on / off control signals and trigger corresponding control and surgical actions. The 3D monitor provides the operator with a 3D image of the surgical area inside the patient's body.

[0056] The imaging platform is the visual feedback subsystem of a surgical system, such as a laparoscopic surgical system. The endoscopic image processor 9 on the imaging platform can be used in conjunction with the 3D electronic endoscope 6. The endoscope 6 has a high-resolution 3D lens, which can acquire stereoscopic image information of the surgical area in real time, allowing the operator to intuitively grasp the operating distance and improve surgical accuracy. The monitor 8 is assembled with the monitor bracket 7, and the endoscope 6 can be directly mounted on the tool arm of the patient's surgical platform.

[0057] The patient surgical platform is a surgical system, such as a direct operating device located at the patient end in a laparoscopic surgical system, including a suspension 15, a first arc arm 16, a second arc arm 17 (including a surgical instrument tool arm and an endoscope tool arm), and a patient surgical trolley 10.

[0058] The patient operating trolley is the basic support for mounting other component units on the patient operating platform. The patient operating trolley has movable casters and can be moved or fixed via the operating trolley handle 11. The top plate lifting column 12, top plate rotation joint 13, and top plate telescopic joint 14 on the patient operating trolley can adjust the mechanical fixed point 20 (e.g., Figure 2The space movement (as shown); the suspension 15 at the telescopic end of the top plate has a rotation function, and it, along with the first arc arm 16 and the second arc arm 17, are important components of the patient operating trolley, providing three degrees of freedom to enable the surgical instruments to move around the fixed point to adjust the surgical area. The end of the second arc arm 17 has a trocar interface 18, which enables connection with the trocar 19.

[0059] The surgical system is equipped with a trocar 19, which is inserted into the patient's body. The trocar's inner cannula has four instrument inlets, allowing surgical instruments and endoscopic instruments to be inserted into the patient for surgery. During the procedure, the operator sits outside the sterile area at the control console and controls the movement of the surgical instruments and the 3D electronic endoscope via the main control arm 5. The operator observes the intracavitary images transmitted by the 3D electronic endoscope through the stereoscopic monitor 2, and uses hand movements to control the movement of the robotic arms and instruments on the patient's surgical platform to complete the surgical procedure. This achieves an effect similar to the operator's hands directly performing surgery inside the patient's body. Simultaneously, a foot switch can be used to control related operations such as electrocautery and electrocoagulation, allowing the operator to achieve the flexibility of open surgery within the constraints of minimally invasive techniques.

[0060] Combination Figure 2 , Figure 2 The diagram shows the structure of the suspension C-arm in one embodiment, which has three degrees of freedom. The suspension 15 rotates around the suspension rotation axis 151 via the suspension arm 152. The first arc arm 16 moves on the first arc arm track 161 via the first arc arm fixing block 162 and rotates around the first arc arm rotation axis 163. The second arc arm 17 is mounted on the instrument mounting arm 174. The second arc arm 17 moves around the second arc arm rotation axis 173 and along the second arc arm track 171. The three rotation axes intersect at the mechanical fixed point 20, which is the fixed point of the puncture device.

[0061] Preoperatively, the surgical platform needs to be aligned with the trocar 19 on the patient's body. To achieve this alignment, the position of the surgical platform needs to be adjusted. Traditionally, the only reference point for this adjustment is the trocar 19 inserted into the patient's body. Operators must rely on personal experience and visual estimation to determine the relative distance and angle between the surgical platform and the trocar, then make tentative adjustments by repeatedly pressing buttons to raise, lower, and translate the platform. This lack of real-time quantitative guidance often results in repeated "over-raising-lowering-fine-adjustment" movements, limiting adjustment accuracy, causing significant errors in the trolley height and optimal access plane, significantly prolonging preoperative preparation time, increasing the risk of anesthesia and aseptic exposure, and reducing overall surgical efficiency.

[0062] To address the aforementioned technical problems, this application provides a surgical robot navigation system. The surgical robot includes a patient operating table and a robotic arm. The axes of the moving joints of the robotic arm intersect at a mechanical fixed point. The patient operating table includes an adjustment component for adjusting the position of the surgical robot. The system includes a fixing device and at least two sets of light emitters. The fixing device is positioned at the installation location of the surgical robot such that the ray paths of the light emitted by the at least two sets of light emitters pass through the mechanical fixed point without obstruction. The at least two sets of light emitters are fixed to the surgical robot by the fixing device, and the at least two sets of light emitters are configured to project light rays with a target pattern. If the light rays emitted by the at least two sets of light emitters do not intersect at the mechanical fixed point and form a closed projection pattern, or if the mechanical fixed point does not coincide with the target surgical position, the position of the surgical robot is adjusted by the adjustment component until the light rays emitted by the at least two sets of light emitters intersect at the mechanical fixed point and form a closed projection pattern, and the mechanical fixed point coincides with the target surgical position.

[0063] The surgical robot includes a patient platform, which comprises a patient operating trolley and a robotic arm. The patient operating trolley has casters and movable joints, allowing it to be moved or fixed via handrails. The trolley also includes a top plate lifting column joint, a top plate rotation joint, and a top plate telescopic joint, enabling spatial adjustment of the robotic arm's stationary point. Figure 2 The robotic arm includes a suspension, a first arc arm, and a second arc arm. The axes of the movable joints of the suspension, the first arc arm, and the second arc arm intersect at a fixed mechanical point, which enables the surgical instruments to have no relative movement with the patient's puncture point when adjusting the surgical area.

[0064] The light projection device includes a fixing device and a light emitter. The fixing device is used to fix the light emitter, that is, the fixing device fixes at least two sets of light emitters to the patient operating table, and the installation position of the fixing device is such that the ray path of the light emitted by at least two sets of light emitters passes through the mechanical fixed point without being blocked. In addition, the characteristic of the path passing through the mechanical fixed point does not change with the movement of the joints of the robotic arm.

[0065] The light emitter can be a laser projector, which is used to project laser beams with a target pattern. When the surgical robot navigation is successful, that is, when the patient's surgical trolley is in the correct position, at least two sets of laser beams intersect at the mechanical fixed point and form a closed projection pattern. The mechanical fixed point coincides with the target surgical position, and the projection pattern is asymmetrically distributed above and below the mechanical fixed point.

[0066] Specifically, in combination Figure 3As shown, fixing devices are installed on both sides of the suspension, each integrating a laser projector 500 (i.e., a corresponding light emitter). Two laser beams converge at a laser convergence point 501. The position of the surgical robot is adjusted by adjusting components so that the laser convergence point 501 coincides with the mechanical fixed point 20. The operator moves the patient surgical platform to the operating table according to the guidance of the laser convergence point 501. Then, based on the projection of the two laser convergence points 501 onto the patient's body, motion control commands are manually sent to the patient surgical platform to align the two laser convergence points 501 with the target surgical position (i.e., the target surgical position). Figure 3 The target point 21 in the middle coincides.

[0067] In the above embodiments, a fixing device and light emitters are introduced. The fixing device is located at the installation position of the surgical robot, so that the ray paths of the light emitted by at least two sets of light emitters pass through the mechanical fixed point without obstruction. The at least two sets of light emitters are configured to project light rays with target patterns. In this way, the light rays emitted by at least two sets of light emitters intersect at the mechanical fixed point and form a closed projection pattern, and the mechanical fixed point coincides with the target surgical position. The system indicates the position of the mechanical fixed point through the intersection of dual or multiple light projections, and feeds back the invisible spatial point to the operator in the form of image projection, thereby guiding the operator to achieve rapid navigation of the position and posture of the patient's operating table, reducing navigation difficulty and improving navigation accuracy.

[0068] In some alternative embodiments, the robotic arm includes a suspension, a first arcuate arm, and a second arcuate arm, with fixing devices fixed at at least two of the suspension, the first arcuate arm, and the second arcuate arm; the fixing devices are installed at locations that are symmetrically distributed on both sides of the suspension, the first arcuate arm, or the second arcuate arm, or asymmetrically distributed on the same side.

[0069] The fixing device can be fixed at at least two of the suspension, the first arc arm and the second arc arm, thereby ensuring that there are at least two optical transmitters.

[0070] Optionally, the first arc-shaped arm can be a large C-shaped arm, and the second arc-shaped arm can be a small C-shaped arm. In other embodiments, the first arc-shaped arm and the second arc-shaped arm can also be other robotic arms, without specific limitations.

[0071] Combination Figure 4 As shown, the dual laser beams intersect at a fixed mechanical point 501, and their position does not change with the movement of mechanical components. The dual laser beams can be installed at multiple locations on the suspension 15, the first arc-shaped arm 16, and the second arc-shaped arm 17. Optionally, the dual laser beams can be installed on the same side or both sides of the suspension 15, the first arc-shaped arm 16, and the second arc-shaped arm 17; optionally, these two sides can be symmetrically or asymmetrically arranged. Figure 4Examples of various optional layouts are shown. Positions A, B, C, and D represent possible same-side laser placement layouts; the specific positions can vary on the structural surface. A1, B1, C1, and D1 represent symmetrical side installation layouts. Any group of lasers can be selected, and the lasers converge at a fixed mechanical point to achieve the laser convergence point 501 indication.

[0072] In some alternative embodiments, the fixing device includes a fixing base and a reflector; the fixing base is fixed to the robotic arm, the reflector is mounted on the side of the fixing base away from the robotic arm, and the light emitter is fixed on the side of the fixing base close to the robotic arm, and the light rays emitted by the light emitter pass through the fixed point of the machine after being reflected by the reflector.

[0073] The light emitter is a laser projector, and the fixing device includes a mounting base and a reflector. The reflector is installed on the side of the mounting base away from the robotic arm, and the light emitter is fixed on the side of the mounting base closer to the robotic arm.

[0074] Specifically, in combination Figure 5 Considering that the position layout of the large and small C-arms may obstruct the optical path and imaging, the laser projector 500 is integrated into the laser mounting base 50, and the output is converged at the laser convergence point 501 after being reflected by the laser reflector 502.

[0075] The above installation method improves the installation flexibility of the laser projector and makes it more compact and aesthetically pleasing, providing a compact implementation solution for single-port surgical robots.

[0076] In some of these alternative embodiments, combined with Figure 6 As shown, the target shape is a non-closed shape, and the light rays emitted by the two sets of light emitters intersect at the mechanical fixed point to form a closed projection shape. Above and below the mechanical fixed point, the projection shapes corresponding to the light rays are asymmetrically distributed. Optionally, the target shape includes any one of the following: semi-circle, arrow shape, and triangle; the light rays are any one of the following: green, red, and blue.

[0077] The laser intersection point 501 can be a semi-circular indicator or other clearly identifiable shape, and its color should be easily identifiable; therefore, the light beam can be red, blue, green, or other easily observable colors. The indicator spot changes in real time with the height of the trolley, providing medical staff with an intuitive and visual "height-position" reference.

[0078] The target graphic can be a closed or open region. Optionally, the target graphic includes any one of the following: a semi-circle, an arrow shape, or a triangle.

[0079] In some alternative embodiments, if the projection points of the light rays projected by at least two sets of light emitters are not located on the patient's body surface, the surgical robot is moved until the projection points of the light rays projected by at least two sets of light emitters are located on the patient's body surface.

[0080] Among them, the combination Figure 7 As shown, the puncture device is installed on the patient on the operating table before the operation. After the sterile protective bag is installed on the patient's operating trolley, the first adjustment is made. The operator drives the patient's operating trolley to the side of the operating table through the trolley handle 11 and follows the laser guidance until the dual laser projection point 503 can be observed on the patient's body surface.

[0081] In the above embodiment, the patient's surgical trolley is first moved to the side of the operating table by the trolley handle 11 to achieve coarse adjustment.

[0082] In some optional embodiments, the adjustment components include a top plate rotation joint and a top plate telescopic joint for adjusting the horizontal direction; when the horizontal distance between the intersection of the light rays projected by at least two sets of light emitters and the target surgical position is greater than a first distance threshold, the top plate rotation joint and the top plate telescopic joint are adjusted until the horizontal distance between the intersection of the light rays projected by at least two sets of light emitters and the target surgical position is less than or equal to the first distance threshold.

[0083] Continue to combine Figure 7 As shown, under normal circumstances, if the center of the dual laser projection point 503 does not coincide with the puncture site on the patient's body surface, the top plate rotation joint 13 or the top plate telescopic joint 14 needs to be adjusted so that the center of the dual laser projection point 503 is close to coinciding with the puncture site (i.e., the target surgical site) (a certain deviation is allowed, for which a first distance threshold is set to ensure that the horizontal distance between the intersection of the light rays projected by the two sets of light emitters and the target surgical site is less than or equal to the first distance threshold). When the two are close to coinciding, it indicates that the relative horizontal distance between the patient's surgical trolley and the operating table is at a better surgical site position, and the adjustment process of the top plate lifting column 12 can be entered.

[0084] In some optional embodiments, the adjustment component includes a top plate lifting column joint for adjusting the vertical direction, where the projection pattern corresponding to the light rays is asymmetrically distributed above and below the mechanical fixed point; based on the projection pattern of the light rays projected by at least two sets of light emitters on the patient's body surface, the projection image type is determined, and the top plate lifting column joint is adjusted based on the projection image type until the closed projection pattern formed by the light rays projected by at least two sets of light emitters coincides with the target surgical position on the patient's body surface.

[0085] In this embodiment, the adjustment components include a top plate lifting column joint for adjusting the vertical direction.

[0086] Taking the target graphic as a green semicircle as an example, such as Figure 8 As shown, if the lasers projected by the two laser projectors form the first light spot section 511 on the patient's body surface, that is, the two light bands fail to close in the target area corresponding to the target surgical position on the patient's body surface, then the height of the patient's surgical trolley needs to be adjusted by the lifting column joint of the top plate. In this embodiment, an audio prompt can be made that the relative distance between the current patient's surgical trolley and the operating table is too close, and the patient's surgical trolley needs to be raised until the second light spot section 512 is obtained.

[0087] If the lasers projected by the two laser projectors form a third light spot section 513 on the patient's body surface, that is, the two light bands fail to close in the target area, the height of the patient's operating trolley needs to be adjusted by the lifting column joint of the top plate. In this embodiment, an audio prompt can be made that the relative distance between the current patient's operating trolley and the operating table is too far and the patient's operating trolley needs to be lowered until the second light spot section 512 is obtained.

[0088] The operator manually navigates the patient's surgical platform based on the observed indicator marks. When the second light spot cross-section 512 is observed to be formed, it indicates that the height of the patient's surgical platform is in place. Subsequently, based on the planar deviation between the closed circular area and the surface mark, the patient's surgical platform is finely adjusted until the center points of the two marks are aligned, thus completing the preoperative navigation.

[0089] This application mainly includes two implementation forms: one is a manual navigation scheme in manual mode based on guidance given by dual laser cross projection points; the other is an automatic navigation scheme in automatic mode based on dual laser cross projection points and using image acquisition and recognition or ranging devices.

[0090] In manual mode, the top plate lifting column joint is manually operated until the closed projection pattern formed by the light rays projected by the at least two sets of light emitters coincides with the target surgical location on the patient's body surface. Figure 9 , Figure 9This is a flowchart of the manual mode in one embodiment. In this embodiment, the trocar is installed on the patient on the operating table before surgery. After the sterile protective bag is installed on the patient's operating trolley, the operator moves the patient's operating platform to the side of the operating table via the trolley handle 11. Then, the operator checks whether the laser projection can be observed on the surface of the patient's chest and abdomen. If not, the operator follows the laser guidance until the dual laser projection points can be observed on the patient's body surface. Then, the operator manually observes whether the center of the dual laser projection points is within a certain threshold of the puncture incision location. Generally, if the center of the dual laser projection points does not coincide with the puncture incision location (target surgical location) on the patient's body surface, the top plate rotation joint or top plate telescopic joint needs to be adjusted so that the center of the dual laser projection points is close to coincide with the puncture incision location (a certain deviation is allowed). This indicates that the relative horizontal distance between the patient's operating platform and the operating table is at a better surgical incision position, and the top plate lifting column adjustment process can begin. Specifically, the criteria for determining whether the dual laser projections overlap are manually observed. If they do, the column height is adjusted. Otherwise, the height of the patient trolley column is adjusted based on the shape of the dual laser projections. For example, if it is the first spot cross-section, the patient trolley needs to be raised until the second spot cross-section is obtained. If it is the third spot cross-section, the patient trolley needs to be lowered until the second spot cross-section is obtained.

[0091] In the above embodiments, by integrating the laser projection device into the main suspension or C-arm structure, an optical navigation reference that remains unchanged despite mechanical movement is established, ensuring the consistency and accuracy of spatial registration. Utilizing a high-visibility laser spot provides intuitive "height-position" visual feedback, transforming complex spatial relative positions into easily observable laser signals, significantly reducing the difficulty and time required for preoperative patient positioning and adjustment of the surgical platform. Furthermore, its compact structure and high integration allow it to adapt to the spatial limitations of single-port surgical robot operations. Simultaneously, the deployment of laser emission devices with different implementation schemes flexibly addresses intraoperative layout and occlusion challenges.

[0092] In some optional embodiments, this application may also employ a combination of automated and manual adjustment, which significantly improves the efficiency of system adjustment while retaining the flexibility of manual judgment. Optionally, in automatic mode, the system further includes an image system; the image system includes an image acquisition device and an image processing device; the image acquisition device is installed in the robotic arm and is used to acquire the projection images of light rays from at least two sets of light emitters on the patient's body surface; the image processing device is used to process the projection images to obtain the projection image type, and generate control commands for the top plate lifting column joint based on the projection image type, and send the control commands to the top plate lifting column joint to adjust the top plate lifting column joint until the closed projection pattern formed by the light rays projected by at least two sets of light emitters coincides with the target surgical position on the patient's body surface.

[0093] The imaging system can be integrated into the patient operating trolley. Specifically, the image acquisition device can be integrated into or installed on the patient operating trolley, for example, on a robotic arm, or one or more cameras can be integrated into the same location as the light emitter or other suitable locations. The cameras can be RGB cameras, binocular cameras, etc.

[0094] Optionally, the navigation function involved in this application can integrate a light emitter, an image acquisition device, and an image processing device, combined with a robot joint control module, to form a closed loop of instruction, acquisition, decision-making, and execution, completing the positioning and adjustment of the surgical trolley. The integrated image acquisition device identifies or calculates the distance to the laser projection and puncture incision position, thereby obtaining the spatial position information of the marker center relative to the main suspension coordinate system; the automatic control algorithm generates drive commands in real time based on the spatial position information, driving the patient surgical platform adjustment mechanism to complete the closed-loop adjustment.

[0095] Optionally, such as Figure 10 As shown, the interactive interface at the trolley handle is used to select modes, including manual mode and automatic mode. In manual mode, the lifting column joint of the top plate is adjusted manually. In automatic mode, the lifting column joint of the top plate is adjusted by control commands.

[0096] Optionally, the interface can be a touchscreen, which can display manual mode and automatic mode buttons. When the manual mode button is pressed, the user enters manual mode; or when the automatic mode button is triggered, the user enters automatic mode. Optionally, the touchscreen can also simultaneously display the captured image for personnel to observe the automatic adjustment process.

[0097] If the operator selects the automatic mode, the image acquisition device can acquire the projection images of light rays from at least two sets of light emitters on the patient's body surface and transmit the projection images to the image processing device. The image processing device processes the projection images to obtain the projection image type. If the projection image type is the first light spot cross-section, a control command is generated to raise the top plate lifting column joint of the patient operating trolley until the second light spot cross-section is obtained. If it is the third light spot cross-section, a control command is generated to lower the top plate lifting column joint of the patient operating trolley until the second light spot cross-section is obtained.

[0098] In some optional embodiments, the image acquisition device is a monocular camera or a binocular camera; when the image acquisition device is a monocular camera, the image processing device is used to determine the features of the projected image acquired by the image acquisition device, and determine the relative position of the closed projected shape and the mechanical fixed point based on the features of the projected image, and generate control commands for the top plate lifting column joint based on the relative position; when the image acquisition device is a binocular camera, the image processing device is used to determine the features of the projected image acquired by the image acquisition device, and determine the distance between the projected image and the binocular camera based on the features of the projected image, and generate control commands for the top plate lifting column joint based on the position of the binocular camera and the mechanical fixed point in the coordinate system corresponding to the surgical robot, and the distance between the projected image and the binocular camera.

[0099] Among them, combined Figure 11 As shown, the image acquisition device is an RGB camera. The RGB camera 600 is mounted on the bottom of the first arc-shaped arm fixing block 162, but can also be mounted in other unobstructed locations. The camera's field of view covers the laser projection area.

[0100] Combination Figure 12 As shown, before adjustment begins, the operator first moves the surgical platform with the sterile bag installed to the side of the operating table and observes whether the dual laser projection is visible on the human body surface. If it is not visible, the operating table is moved until the laser projection on the body surface can be observed. At this time, it is observed whether the center of the dual laser projection coincides with the puncture inlet position. If they do not coincide, the operator adjusts the rotation or extension joint of the top plate until the projection center coincides with the puncture inlet position.

[0101] After completing the above preparations, click the automatic mode button on the trolley's handrail touchscreen. The RGB camera acquires image data of the projected laser and transmits it to the image processing device. The image processing device extracts the features of the laser projection image, determines the cross-sectional display shape of the dual laser beams, and judges whether the dual laser projection features meet the preset threshold based on the cross-sectional shape. Figure 8 As shown, the cross-sectional shape of the dual laser projection varies at different heights. The control module generates control commands to adjust the height of the patient trolley column based on whether the cross-sectional shape of the dual laser projection is higher or lower than the intersection point, until the dual laser projection characteristics meet the threshold requirements.

[0102] In some optional embodiments, during the adjustment process, medical staff can observe the changes in the laser projection in real time through the display interface. If any abnormalities are found, they can intervene manually in a timely manner to reduce the risks that this function may cause.

[0103] Among them, combined Figure 13 As shown, the image acquisition device is a binocular camera. The binocular camera 601 is mounted on the bottom of the first arc-shaped arm fixing block 162, but can also be mounted in other unobstructed locations. The camera's field of view covers the laser projection range.

[0104] Combination Figure 14 As shown, before adjustment begins, the operator first moves the surgical platform with the sterile bag installed to the side of the operating table and observes whether the dual laser projection is visible on the human body surface. If it is not visible, the operating table is moved until the laser projection on the body surface can be observed. At this time, it is observed whether the center of the dual laser projection coincides with the puncture inlet position. If they do not coincide, the operator adjusts the rotation or extension joint of the top plate until the projection center coincides with the puncture inlet position.

[0105] After completing the above preparations, click the automatic mode button on the trolley's handrail touchscreen. The binocular camera acquires image data from the projected laser, and the image data is transmitted to the image processing device. The image processing device extracts image features, calculates the projection distance, and compares it with the known fixed point position of the device itself. Based on the calculated difference, the control module sends a command to adjust the height of the patient trolley column until the difference meets the threshold requirement.

[0106] In an exemplary embodiment, a surgical robot navigation method is provided. The surgical robot includes a patient operating trolley and a robotic arm. The axes of the movable joints of the robotic arm intersect at a fixed mechanical point. The patient operating trolley includes an adjustment component for adjusting the position of the surgical robot. The method includes: moving the surgical robot until the projection points of the light rays projected by at least two sets of light emitters are located on the patient's body surface when the projection points are not located on the patient's body surface; adjusting the top plate rotation joint and top plate extension joint of the surgical robot until the horizontal distance between the intersection of the light rays projected by at least two sets of light emitters and the target surgical position is less than or equal to the first distance threshold when the horizontal distance between the intersection of the light rays projected by at least two sets of light emitters and the target surgical position is greater than a first distance threshold when the horizontal distance between the intersection of the light rays projected by at least two sets of light emitters and the target surgical position is less than or equal to the first distance threshold; determining the projection image type based on the projection pattern of the light rays projected by at least two sets of light emitters on the patient's body surface, and adjusting the top plate lifting column joint of the surgical robot based on the projection image type until the closed projection pattern formed by the light rays projected by at least two sets of light emitters coincides with the target surgical position on the patient's body surface.

[0107] In some optional embodiments, the method further includes: acquiring projection images of light rays from at least two sets of light emitters on the patient's body surface using an image acquisition device; determining the projection image type based on the projection patterns of the light rays projected by the at least two sets of light emitters on the patient's body surface; and adjusting the top plate lifting column joint of the surgical robot based on the projection image type until the closed projection pattern formed by the light rays projected by the at least two sets of light emitters coincides with the target surgical position on the patient's body surface, including: processing the projection images to obtain the projection image type, generating control commands for the top plate lifting column joint based on the projection image type, and sending the control commands to the top plate lifting column joint to adjust the top plate lifting column joint until the closed projection pattern formed by the light rays projected by the at least two sets of light emitters coincides with the target surgical position on the patient's body surface.

[0108] In some optional embodiments, the projected image is processed to obtain a projected image type, and control commands for the top plate lifting column joint are generated based on the projected image type. This includes: when the image acquisition device is a monocular camera, determining the projected image features based on the projected image acquired by the image acquisition device, determining the relative position between the closed projected shape and the mechanical fixed point based on the projected image features, and generating control commands for the top plate lifting column joint based on the relative position; when the image acquisition device is a binocular camera, determining the projected image features based on the projected image acquired by the image acquisition device, determining the distance between the projected image and the binocular camera based on the projected image features, and generating control commands for the top plate lifting column joint based on the position of the binocular camera and the mechanical fixed point in the coordinate system corresponding to the surgical robot, and the distance between the projected image and the binocular camera.

[0109] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0110] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 15As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a surgical robot navigation method. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0111] Those skilled in the art will understand that Figure 15 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0112] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0113] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0114] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0115] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0116] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0117] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0118] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A surgical robot navigation system, characterized in that, The surgical robot includes a patient operating trolley and a robotic arm, wherein the axes of each movable joint of the robotic arm intersect at a fixed mechanical point, and the patient operating trolley includes an adjustment component for adjusting the position of the surgical robot; the system includes a fixing device and at least two sets of light emitters. The fixing device is positioned at the installation location of the surgical robot so that the ray paths of the light emitted by the at least two sets of light emitters pass through the mechanical stationary point without obstruction. The at least two sets of light emitters are fixed to the surgical robot by the fixing device, and the at least two sets of light emitters are configured to project light rays with a target pattern; if the light rays emitted by the at least two sets of light emitters do not intersect at the mechanical fixed point and form a closed projection pattern, or if the mechanical fixed point does not coincide with the target surgical position, the position of the surgical robot is adjusted by the adjusting component until the light rays emitted by the at least two sets of light emitters intersect at the mechanical fixed point and form a closed projection pattern, and the mechanical fixed point coincides with the target surgical position.

2. The system according to claim 1, characterized in that, The robotic arm includes a suspension, a first arc-shaped arm, and a second arc-shaped arm. The fixing device is fixed at at least two of the suspension, the first arc-shaped arm, and the second arc-shaped arm. The fixing device is installed at symmetrical locations on both sides of the suspension, the first arc-shaped arm, or the second arc-shaped arm, or asymmetrically distributed on the same side.

3. The system according to claim 1, characterized in that, The fixing device includes a fixing base and a reflector; the fixing base is fixed to the robotic arm, the reflector is installed on the side of the fixing base away from the robotic arm, the light emitter is fixed on the side of the fixing base close to the robotic arm, and the light rays emitted by the light emitter pass through the fixed point of the mechanical arm after being reflected by the reflector.

4. The system according to claim 1, characterized in that, The target shape is a non-closed shape, and the light rays emitted by the two sets of light emitters intersect at the mechanical fixed point to form a closed projection shape. Above and below the mechanical fixed point, the projection shapes corresponding to the light rays exhibit an asymmetrical distribution.

5. The system according to any one of claims 1 to 4, characterized in that, If the projection points of the light rays projected by the at least two sets of light emitters are not located on the patient's body surface, the surgical robot is moved until the projection points of the light rays projected by the at least two sets of light emitters are located on the patient's body surface.

6. The system according to any one of claims 1 to 4, characterized in that, The adjustment components include a top plate rotation joint and a top plate telescopic joint for adjusting the horizontal direction; If the horizontal distance between the intersection of the light rays projected by the at least two sets of light emitters and the target surgical position is greater than a first distance threshold, adjust the top plate rotation joint and the top plate extension joint until the horizontal distance between the intersection of the light rays projected by the at least two sets of light emitters and the target surgical position is less than or equal to the first distance threshold.

7. The system according to claim 1, characterized in that, The adjustment components include a top plate lifting column joint for adjusting the vertical direction; Based on the projection pattern of the light rays projected by the at least two sets of light emitters on the patient's body surface, the projection image type is determined, and the top plate lifting column joint is adjusted based on the projection image type until the closed projection pattern formed by the light rays projected by the at least two sets of light emitters coincides with the target surgical position on the patient's body surface.

8. The system according to claim 7, characterized in that, The system also includes an image system; the image system includes an image acquisition device and an image processing device; The image acquisition device is installed in the robotic arm and is used to acquire the projection images of the light rays from the at least two sets of light emitters on the patient's body surface. The image processing device is used to process the projected image to obtain a projected image type, and generate a control command for the top plate lifting column joint based on the projected image type. The control command is sent to the top plate lifting column joint to adjust the top plate lifting column joint until the closed projection pattern formed by the light rays projected by the at least two sets of light emitters coincides with the target surgical position on the patient's body surface.

9. The system according to claim 8, characterized in that, The image acquisition device is a monocular camera or a binocular camera; When the image acquisition device is a monocular camera, the image processing device is used to determine the features of the projected image acquired by the image acquisition device, and to determine the relative position of the closed projected shape and the mechanical fixed point based on the features of the projected image, and to generate control commands for the top plate lifting column joint based on the relative position. When the image acquisition device is a binocular camera, the image processing device is used to determine the features of the projected image acquired by the image acquisition device, and determine the distance between the projected image and the binocular camera based on the features of the projected image. Based on the position of the binocular camera and the mechanical fixed point in the coordinate system corresponding to the surgical robot, and the distance between the projected image and the binocular camera, the device generates control commands for the top plate lifting column joint.

10. The system according to claim 7, characterized in that, The system also includes: An interactive interface is provided for mode selection, including manual mode and automatic mode. In manual mode, the lifting column joint of the top plate is adjusted manually. In automatic mode, the lifting column joint of the top plate is adjusted by control commands.

11. A surgical robot navigation method based on the surgical robot navigation system according to any one of claims 1 to 10, characterized in that, The surgical robot includes a patient operating table and a robotic arm, wherein the axes of the moving joints of the robotic arm intersect at a fixed mechanical point, and the patient operating table includes an adjustment component for adjusting the position of the surgical robot; the method includes: If the projection points of the light rays projected by at least two sets of light emitters are not located on the patient's body surface, move the surgical robot until the projection points of the light rays projected by the at least two sets of light emitters are located on the patient's body surface. If the horizontal distance between the intersection of the light rays projected by the at least two sets of light emitters and the target surgical position is greater than a first distance threshold, adjust the top plate rotation joint and the top plate telescopic joint in the surgical robot until the horizontal distance between the intersection of the light rays projected by the at least two sets of light emitters and the target surgical position is less than or equal to the first distance threshold. Based on the projection pattern of the light rays projected by the at least two sets of light emitters on the patient's body surface, the projection image type is determined, and the lifting column joint of the surgical robot is adjusted based on the projection image type until the closed projection pattern formed by the light rays projected by the at least two sets of light emitters coincides with the target surgical position on the patient's body surface.

12. The method according to claim 11, characterized in that, The method further includes: The projection images of the light rays from the at least two sets of light emitters on the patient's body surface are acquired by the image acquisition device; The process of determining the projection image type based on the projection pattern of the light rays projected by the at least two sets of light emitters on the patient's body surface, and adjusting the lifting column joint of the surgical robot's top plate based on the projection image type until the closed projection pattern formed by the light rays projected by the at least two sets of light emitters coincides with the target surgical position on the patient's body surface includes: The projected image is processed to obtain a projected image type, and a control command for the top plate lifting column joint is generated based on the projected image type. The control command is sent to the top plate lifting column joint to adjust the top plate lifting column joint until the closed projection pattern formed by the light rays projected by the at least two sets of light emitters coincides with the target surgical position on the patient's body surface.

13. The method according to claim 12, characterized in that, The process of processing the projected image to obtain a projected image type, and generating control commands for the top plate lifting column joint based on the projected image type, includes: When the image acquisition device is a monocular camera, the features of the projected image are determined based on the projected image acquired by the image acquisition device, and the relative position of the closed projected shape and the mechanical fixed point is determined based on the features of the projected image. Based on the relative position, the control command of the top plate lifting column joint is generated. When the image acquisition device is a binocular camera, the features of the projected image are determined based on the projected image acquired by the image acquisition device, and the distance between the projected image and the binocular camera is determined based on the projected image features. Based on the position of the binocular camera and the mechanical fixed point in the coordinate system corresponding to the surgical robot, and the distance between the projected image and the binocular camera, control commands for the top plate lifting column joint are generated.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 11 to 13.

Images