Optical tracking locator based on line laser and surgical robot

Abstract

The utility model discloses an optical tracking and positioning instrument based on line laser and a surgical robot, the optical tracking and positioning instrument based on line laser comprises an image acquisition device, a line laser and a light reflection device, the line laser is installed on the image acquisition device, and the light reflection device is installed on the image acquisition device or the line laser; the direction of laser rays emitted by the line laser corresponds to that of a light reflecting piece on the light reflecting device, and the view field area of the light rays reflected by the light reflecting piece at least partially coincides with the view field area, collected by the image collecting device, of the target object. The surgical robot comprises a control host, a mechanical arm and an optical tracking locator, the control host is connected with the mechanical arm, and the optical tracking locator is connected with the control host. The technical problems that in the process that a surgical robot assists a doctor, a patient needs to scan CT for multiple times during registration, and consequently the operation is long in consumed time and low in efficiency are solved.

Description

Technical Field

[0001] The present application relates to the technical field of image positioning in surgical robots, and more specifically, to an optical tracking locator and a surgical robot based on line laser. Background Art

[0002] Surgical robots are developing rapidly, and have been formed in many fields, such as neurosurgery robots, spinal surgery robots, oral surgery robots, interventional vascular surgery robots, etc. The core components of surgical robots include surgical control console carts, robotic arms and image acquisition and positioning devices. The image acquisition and positioning device is used to acquire images and transmit the acquired images to the control system in the surgical control console cart for processing, so as to achieve the purpose of surgical robots assisting doctors more accurately and efficiently.

[0003] However, the existing technology mainly uses optical cameras to identify the human body (such as the head), and then determines the relative position relationship between the patient's lesion and the optical camera to register the patient. The traditional patient registration method is to stick a marker that can be recognized by an optical tracking locator on the skin near the patient's lesion. There is a positioning ball under the marker that can extract the position in the CT image. The position relationship between the positioning ball and the marker is known, so the patient needs to wear the marker for a CT scan before the operation. During the operation, the marker is recognized by the optical positioning tracker, and the relative position of the patient's lesion site and the optical tracking locator can be established to complete the patient registration.

[0004] An optical tracking locator is an optical device that can track and locate a marker. The marker consists of several feature points, which can be spherical, circular, corner, etc., and can reflect infrared or visible light. The device can obtain data such as the three-dimensional position and posture of the marker, the three-dimensional position of the feature points, etc. in real time at a certain frequency. The marker can be installed on surgical tools and patients for their positioning and tracking.

[0005] Disadvantages of traditional patient registration methods: 1. In addition to a CT scan during diagnosis, patients need to undergo an additional CT scan before surgery, which is a cumbersome process that consumes time and energy and is inefficient. 2. If the markers on the patient's skin move or deform after the patient has completed the CT scan and before the patient is registered, the patient registration will be inaccurate.

[0006] In summary, the present invention will solve the technical problem of long surgery time and low efficiency caused by the need for multiple CT scans for patient registration during the process of surgical robots assisting doctors. Utility Model Content

[0007] In order to solve the above-mentioned technical problems, the present application provides an optical tracking positioning device and a surgical robot based on line laser, so as to at least solve the technical problems of long operation time and low efficiency caused by the need for multiple CT scans for patient registration in the process of surgical robot assisting doctors. The present technical solution provides another surgical positioning device in a surgical robot, which can significantly improve surgical efficiency and reduce the number of CT scans.

[0008] In order to achieve the above-mentioned purpose, according to one aspect of the present application, there is provided an optical tracking and positioning device based on a line laser, which has a three-dimensional reconstruction function and can scan, register, align, and three-dimensionally reconstruct an object. The optical tracking and positioning device comprises: an image acquisition device, a line laser, and a reflective device, wherein the line laser is mounted on the image acquisition device, and the reflective device is mounted on the image acquisition device or the line laser;

[0009] The line laser is used to emit a laser line that is irradiated on the surface of the target object; the image acquisition device is used to acquire a contour image formed by the line laser on the surface of the target object; the reflective device is used to reflect the laser line emitted by the line laser;

[0010] The direction of the laser line emitted by the line laser corresponds to the reflective element on the reflective device, that is, the laser line emitted by the line laser can be reflected onto the target object through the reflective element, and the field of view of the light reflected by the reflective element at least partially overlaps with the field of view of the target object captured by the image acquisition device.

[0011] Preferably, the image acquisition device comprises: a mounting frame, the line laser and the reflective device are both fixed on the mounting frame. The mounting frame can be an I-shaped frame, a rectangular plate, or other shapes. The reflective device can be a reflective device with a self-rotating structure, or a non-self-rotating reflective device. More preferably, the reflective device is a reflective device with a rotating structure.

[0012] Preferably, the reflective device is fixed on a line laser, a connecting plate is provided on the line laser, and the line laser is connected to the reflective device via the connecting plate.

[0013] Preferably, the image acquisition device further comprises: a processor and an optical camera, and the processor is electrically connected to the optical camera.

[0014] Preferably, the image acquisition device further comprises: a protective shell, a through hole is provided at the bottom of the protective shell, and the lens of the optical camera passes through the through hole to capture the field of view of the external target object.

[0015] Preferably, the number of the optical cameras is two, the visual field areas under the lenses of the two optical cameras at least partially overlap, and the laser line emitted by the line laser intersects with the overlapping visual field areas under the lenses of the two optical cameras, so that the target object can be under the visual field of the two optical cameras. Of course, it is better to use two optical cameras, but more than two optical cameras can also be used. In some cases, one optical camera is also acceptable.

[0016] Preferably, the image acquisition device is provided with a shock absorbing mechanism, which is mounted on a mounting frame. The shock absorbing mechanism mainly plays a role of shock absorption to prevent the image acquisition device from shaking.

[0017] Preferably, a radiator is also installed on the image acquisition device, and the radiator is electrically connected to the processor. The radiator can dissipate heat, extend the service life of the entire instrument, extend the life of electrical components, and reduce the failure rate.

[0018] Preferably, the reflective device comprises: a reflective element and a rotating device, the rotating device is connected to the reflective element, the rotating device drives the reflective element to rotate, so that the laser line emitted by the line laser is reflected onto the target object through the reflective element, and the laser line scans the surface of the target object in a scanning manner through the rotation of the rotating device; the reflective element is a reflective element provided with a reflective layer.

[0019] Preferably, the reflective element is a galvanometer, and the rotating device comprises a driving motor, and a driving shaft of the driving motor drives the galvanometer to rotate along a preset trajectory.

[0020] Preferably, the rotating device further comprises: a fixing seat, and the driving motor is mounted on the fixing seat.

[0021] Preferably, the optical tracking locator further comprises: a rotation angle measurer, which is mounted on the image acquisition device and is used to obtain the rotation angle of the rotating device, and is connected to the processor.

[0022] Preferably, the optical tracking and positioning device further comprises: a support frame, on which an extension arm is provided, and the image acquisition device is mounted on the extension arm.

[0023] Preferably, the extension arm has at least 2 degrees of freedom; and a universal wheel is installed under the support frame.

[0024] According to another aspect of the present application, a surgical robot is provided, comprising: a control host, a robotic arm, and an optical tracking and positioning device based on a line laser, wherein the control host is connected to the robotic arm, and the optical tracking and positioning device is connected to the control host.

[0025] In the embodiment of the present application, an image acquisition device, a line laser, a driving motor, a reflector and a reflective device are installed on an optical tracking and positioning instrument. The line laser is installed on the image acquisition device, and the reflective device is installed on the image acquisition device or the line laser; the line laser is used to emit a laser line irradiated on the surface of the target object; the image acquisition device is used to collect the contour image formed by the line laser on the surface of the target object; the reflective device is used to reflect the laser line emitted by the line laser; the direction of the laser line emitted by the line laser corresponds to the reflective element on the reflective device, and the field of view of the light reflected by the reflective element at least partially overlaps with the field of view of the target object collected by the image acquisition device. The present invention installs a line laser on the optical tracking and positioning instrument, and uses the reflective device to enable the line laser to scan the target object, and then uses the image acquisition device to collect data, so as to obtain the contour image of the patient, improve the accuracy of the image, and further improve the accuracy of the surgical robot when using the device, and reduce the patient's error rate. By using the calibration parameters of the optical tracking locator itself and the position of the laser line in the optical tracking locator image when the line laser is scanned, the three-dimensional coordinates of all points on the laser line can be calculated. If the line laser scans the patient's skin, the patient's skin can be reconstructed into a three-dimensional point cloud, and then aligned with the skin information extracted from the CT scan of the patient during diagnosis, the patient registration can be completed. In this way, there is no need to stick and fix positioning markers on the patient, saving the golden surgical time and improving the patient experience.

[0026] To sum up, this application solves the technical problem of long surgery time and low efficiency caused by the need for multiple CT scans for patient registration during the process of surgical robots assisting doctors. This technical solution can significantly improve surgical efficiency and reduce the number of CT scans. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings constituting a part of this application are used to provide a further understanding of this application, so that other features, purposes and advantages of this application become more obvious. The schematic embodiment drawings and their descriptions of this application are used to explain this application and do not constitute an improper limitation on this application. In the drawings:

[0028] Figure 1 It is a schematic diagram of the internal structure of an optical tracking and positioning device based on line laser according to an embodiment of the present application;

[0029] Figure 2 This is an overall external structure diagram of an optical tracking and positioning device based on a line laser according to an embodiment of the present application;

[0030] Figure 3 It is a schematic diagram of the structure of a surgical robot according to an embodiment of the present application.

[0031] Among them, the numbers shown in the figure indicate: 1. Image acquisition device; 11. Mounting frame; 12. Processor; 13. Optical camera; 14. Protective shell; 15. Shock absorption mechanism; 16. Radiator; 2. Line laser; 3. Reflective device; 31. Reflective element; 32. Rotating device; 33. Fixed seat; 4. Rotation angle measuring device; 5. Support frame; 6. Extension arm; 7. Control host; 8. Robotic arm; 9. Universal wheel; 10. Display. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0033] It should be noted that the term "including" in the specification and claims of this application and the above-mentioned drawings is intended to cover non-exclusive inclusions. In this application, the orientation or positional relationship indicated by the terms "upper" and "lower" is based on the orientation or positional relationship shown in the drawings. These terms are mainly for better describing the present application and its embodiments, and are not used to limit the indicated components to have specific orientations. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to the specific circumstances.

[0034] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0035] like Figure 1-3 As shown, the present application relates to an optical tracking and positioning device based on line laser, which has a three-dimensional reconstruction function and can scan, register, align, and three-dimensionally reconstruct an object. The optical tracking and positioning device based on line laser includes: an image acquisition device 1, a line laser 2, and a reflective device 3, wherein the line laser 2 is mounted on the image acquisition device 1, and the reflective device 3 is mounted on the image acquisition device 1;

[0036] A line laser 2 is used to emit a laser line irradiated on the surface of a target object; an image acquisition device 1 is used to acquire a contour image formed by the line laser 2 on the surface of the target object; a reflective device 3 is used to reflect the laser line emitted by the line laser 2;

[0037] The direction of the laser line emitted by the line laser 2 corresponds to the reflector 31 on the reflective device 3, that is, the laser line emitted by the line laser 2 can be reflected onto the target object through the reflector 31, and the field of view of the light reflected by the reflector 31 at least partially overlaps with the field of view of the target object captured by the image acquisition device 1, and of course, it can also completely overlap. The purpose is that the image acquisition device 1 can capture the target object (patient) irradiated by the laser line, so as to perform data acquisition, registration, and three-dimensional reconstruction.

[0038] like Figure 1 As shown, the image acquisition device 1 includes: a mounting frame 11, and the line laser 2 and the reflective device 3 are both fixed on the mounting frame 11. The mounting frame 11 can be an I-shaped frame, a rectangular plate, or other shapes. However, it is further preferred that the structure is left-right symmetrical, so that the center of gravity of the mounting frame 11 is in the middle position, and the overall stability can be maintained. In this embodiment, the mounting frame 11 is connected by two upper and lower mounting plates, and a shock absorbing structure 15 is installed between the two mounting plates. Of course, there can be another alternative: the reflective device 3 is fixed on the line laser 2, and the line laser is provided with a connecting plate, and the reflective device is connected to the line laser through the connecting plate on the line laser.

[0039] like Figure 1 As shown, the image acquisition device 1 further includes: a processor 12 and an optical camera 13, the processor 12 is electrically connected to the optical camera 13. The image acquisition device 1 further includes: a protective shell 14, the bottom of the protective shell 14 is provided with a through hole, and the lens of the optical camera 13 captures the field of view of the external target object through the through hole.

[0040] like Figure 1-3 As shown, the number of optical cameras 13 in this embodiment is two, and the axes of the lenses of the two optical cameras 13 are tilted inwards below the lenses of the optical cameras 13. This allows the target object to be under the field of view of the two optical cameras 13, and the laser line emitted by the line laser intersects with the overlapping field of view area under the lenses of the two optical cameras. Of course, it is better to use two optical cameras 13, but more than two optical cameras 13 can also be used. In some cases, one optical camera 13 is also acceptable.

[0041] like Figure 1 As shown, the image acquisition device 1 is provided with a shock absorbing structure 15, which is mounted on the mounting frame 11. The shock absorbing structure 15 mainly plays a role of shock absorption to prevent the image acquisition device 1 from shaking. The image acquisition device 1 is also equipped with a radiator 16, which is electrically connected to the processor 12. The radiator 16 can play a role of heat dissipation, which can extend the service life of the entire instrument, extend the service life of electrical components, and reduce the failure rate.

[0042] like Figure 1As shown, the reflective device includes: a reflector 31 and a rotating device 32, the rotating device 32 is connected to the reflector 31, and the rotating device 32 drives the reflector 31 to rotate, so that the laser line emitted by the line laser 2 is reflected to the target object through the reflector 31, and the laser line scans the surface of the target object in a scanning manner through the rotation of the rotating device 32; the reflector 31 is a reflector 31 provided with a reflective layer, such as: a reflector, a reflective plate, a galvanometer, etc., which can achieve a reflective effect. In this embodiment, the reflector 31 is a galvanometer, and the rotating device 32 includes a driving motor, and the driving shaft of the driving motor drives the galvanometer to rotate along a preset trajectory. For example, in cranial surgery, cerebral hemorrhage surgery and other surgeries, the driving motor drives the galvanometer to rotate, so that the laser emitted by the line laser 2 can cover the entire cranial brain, and the image acquisition device 1 can collect the laser line on the cranial brain, thereby forming a contour image, so that there is no need to stick or nail the positioning marker on the human body, reduce the patient's pain, save surgery time, improve the surgery process and efficiency, and have high practical value.

[0043] like Figure 1 As shown, the rotating device 32 further includes: a fixing seat 33 , the driving motor is mounted on the fixing seat 33 , and the fixing seat 33 is fixed on the mounting frame 11 .

[0044] like Figure 1 As shown, the optical tracking locator also includes: a rotation angle measurer 4, which is installed on the image acquisition device 1 and is used to obtain the rotation angle of the reflector 31 (galvanometer) of the rotating device 32, and the rotation angle measurer 4 is connected to the processor 12.

[0045] like Figure 2 and Figure 3 As shown, the optical tracking and positioning device also includes: a support frame 5, on which an extension arm 6 is provided, and the image acquisition device 1 is installed on the extension arm 6. The extension arm 6 has at least two degrees of freedom; a universal wheel 9 is installed below the support frame 5. The universal wheel 9 is convenient for movement, and the extension arm 6 is convenient for adjusting the spatial position of the image acquisition device 1. Optimally, the support frame 5 can also be a support frame 5 with adjustable height, so that the height can be adjusted conveniently.

[0046] According to another aspect of the present embodiment, a surgical robot is provided, which includes: a control host 7, a mechanical arm 8, and an optical tracking and positioning device based on a line laser, wherein the control host 7 is connected to the mechanical arm 8, the optical tracking and positioning device is electrically connected to the control host 7, and the image signal collected by the optical tracking and positioning device is transmitted to the control host 7. A display 10 is installed on the control host 7, the display 10 is electrically connected to the control host 7, a surgical navigation system is installed in the control host 7, and the display 10 is used to realize the operation and display of the surgical robot.

[0047] In the embodiment of the present application, an image acquisition device 1, a line laser 2, a driving motor, a reflector and a reflective device 3 are installed on an optical tracking and positioning instrument. The line laser 2 is installed on the image acquisition device 1, and the reflective device 3 is installed on the image acquisition device 1 or the line laser 2; the line laser 2 is used to emit a laser line irradiated on the surface of the target object; the image acquisition device 1 is used to collect the contour image formed by the line laser 2 on the surface of the target object; the reflective device 3 is used to reflect the laser line emitted by the line laser 2; the direction of the laser line emitted by the line laser 2 corresponds to the reflective member 31 on the reflective device 3, and the field of view of the light reflected by the reflective member 31 at least partially overlaps with the field of view of the target object collected by the image acquisition device 1. The present invention installs the line laser 2 on the optical tracking and positioning instrument, and uses the reflective device 3 to enable the line laser 2 to scan the target object, and then uses the image acquisition device 1 to collect data, so as to obtain the contour image of the patient, improve the accuracy of the image, and further improve the accuracy of the surgical robot when using the device, and reduce the patient's error rate. By using the calibration parameters of the optical tracking locator itself and the position of the laser line in the optical tracking locator image when the line laser 2 is scanned, the three-dimensional coordinates of all points on the laser line can be calculated. If the line laser scans the patient's skin, the patient's skin can be reconstructed into a three-dimensional point cloud, and then aligned with the skin information extracted from the CT scan of the patient during diagnosis, the patient registration can be completed. In this way, there is no need to stick and fix positioning markers on the patient, saving the golden surgical time and improving the patient experience.

[0048] In summary, this application solves the technical problem of long operation time and low efficiency caused by multiple CT scans required for patient registration during the process of surgical robot-assisted doctors. This technical solution can significantly improve the efficiency of surgery and reduce the number of CT scans. This embodiment solves the technical problem of long operation time and low efficiency caused by multiple CT scans required for patient registration during the process of surgical robot-assisted doctors. This technical solution can significantly improve the efficiency of surgery and reduce the number of CT scans.

[0049] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An optical tracking and positioning device based on line laser, characterized in that: include: An image acquisition device (1), a line laser (2) and a reflective device (3), wherein the line laser is mounted on the image acquisition device, and the reflective device is mounted on the image acquisition device or the line laser; The line laser is used to emit a laser line that is irradiated on the surface of the target object; the image acquisition device is used to acquire a contour image formed by the line laser on the surface of the target object; the reflective device is used to reflect the laser line emitted by the line laser; The direction of the laser line emitted by the line laser corresponds to the reflective element (31) on the reflective device, and the field of view of the light reflected by the reflective element at least partially overlaps with the field of view of the target object captured by the image capture device.

2. The optical tracking and positioning device based on line laser according to claim 1, characterized in that: The image acquisition device (1) comprises a mounting frame (11), on which the line laser (2) and the reflective device (3) are both fixed.

3. The optical tracking and positioning device based on line laser according to claim 1, characterized in that: The reflective device (3) is fixed on the line laser, a connecting plate is provided on the line laser (2), and the reflective device is connected to the line laser via the connecting plate.

4. The optical tracking and positioning device based on line laser according to claim 1, characterized in that: The image acquisition device (1) further comprises: a processor (12) and an optical camera (13), wherein the processor is electrically connected to the optical camera.

5. The optical tracking and positioning device based on line laser according to claim 4, characterized in that: The image acquisition device further comprises: a protective shell (14), the bottom of the protective shell being provided with a through hole, and the lens of the optical camera passing through the through hole to acquire a visual field of an external target object.

6. The optical tracking and positioning device based on line laser according to claim 4, characterized in that: There are two optical cameras, the field of view areas below the lenses of the two optical cameras at least partially overlap, and the laser line emitted by the line laser intersects with the overlapping field of view areas below the lenses of the two optical cameras.

7. The optical tracking and positioning device based on line laser according to claim 2, characterized in that: The image acquisition device is provided with a shock absorbing mechanism (15), which is mounted on a mounting frame.

8. The optical tracking and positioning device based on line laser according to claim 1, characterized in that: A radiator (16) is also installed on the image acquisition device, and the radiator is electrically connected to the processor.

9. The optical tracking and positioning device based on line laser according to claim 1, characterized in that: The reflective device (3) comprises: a reflective element (31) and a rotating device (32), wherein the rotating device is connected to the reflective element, and the rotating device drives the reflective element to rotate along a preset track, so that the laser line emitted by the line laser is reflected onto the target object through the reflective element, and the laser line scans the surface of the target object in a scanning manner through the rotation of the rotating device.

10. The optical tracking and positioning device based on line laser according to claim 9, characterized in that: The reflective element (31) is a vibrating mirror, the rotating device comprises a driving motor, the driving shaft of the driving motor drives the vibrating mirror to rotate along a preset track, and the rotating device further comprises a fixing seat (33) on which the driving motor is mounted.

11. The optical tracking and positioning device based on line laser according to claim 9, characterized in that: The optical tracking positioning device also includes: a rotation angle measurer (4), which is installed on the image acquisition device and is used to obtain the rotation angle of the rotating device. The rotation angle measurer is connected to the processor.

12. The optical tracking and positioning device based on line laser according to claim 1, characterized in that: The optical tracking and positioning device also includes: a support frame (5), on which an extension arm (6) is provided, on which the image acquisition device is mounted, and the extension arm has at least two degrees of freedom.

13. A surgical robot, characterized in that: include: A control host (7), a mechanical arm (8) and an optical tracking and positioning device based on line laser as described in any one of claims 1 to 12, wherein the control host is connected to the mechanical arm, and the optical tracking and positioning device is connected to the control host.

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