Multispectral optical tracking and positioning equipment and surgical robot

Abstract

The utility model discloses multispectral optical tracking and positioning equipment and a surgical robot, the multispectral optical tracking and positioning equipment comprises an image acquisition device and a coaxial light source, and the coaxial light source is mounted on the image acquisition device; a camera, a lens and an image sensor are arranged on the image acquisition device, the image sensor is electrically connected with the camera, and the lens is mounted on the camera; the coaxial light source comprises an annular lamp and a circuit board, the annular lamp is electrically connected with the circuit board, the annular lamp is coaxial with a lens on the camera, and the diameter of the annular lamp is larger than that of the lens; the annular lamp is mounted at a light emitting end of a lens on the camera; the utility model further discloses a surgical robot, and the surgical robot comprises a control trolley, a mechanical arm and multispectral optical tracking and positioning equipment. The technical problems that in the positioning process of the optical tracking and positioning equipment, due to the fact that the optical tracking and positioning equipment is greatly influenced by ambient light, recognition and positioning are inaccurate, and the function is single are solved.

Description

Technical Field

[0001] The present application relates to the field of visual positioning technology, and in particular to a multi-spectral optical tracking and positioning device and a surgical robot. Background Art

[0002] In surgical navigation systems, especially surgical robot navigation systems, there are generally three systems working together: the navigation system - the "brain", the robotic arm - the "hand", and the optical tracking and positioning device - the "eye". The surgical navigation system is used to achieve functions such as surgical navigation, surgical planning, surgical positioning, and surgical registration. The robotic arm, as an executable mechanism, can more accurately operate on patients in real time, and the optical tracking and positioning device can assist in precise positioning, so as to assist doctors in performing surgery on patients more accurately and minimally invasively.

[0003] Optical tracking and positioning equipment is an optical device that has the function of tracking and positioning positioning markers. Positioning markers are composed of several feature points. The geometric shapes of the feature points can be spherical, circular, corner points, etc., and can reflect infrared or visible light. Optical tracking and positioning equipment 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. Markers can be installed on surgical tools and patients for their positioning and tracking.

[0004] At present, optical tracking and positioning equipment generally consists of an image acquisition device, a bracket and auxiliary tools. The image acquisition device is installed on the bracket. The image acquisition device collects information of the target object from top to bottom, and the auxiliary tools generally have positioning markers to assist in positioning and establishing the coordinate system conversion relationship between the patient, the image acquisition device and the medical image, and obtain the patient's spatial coordinates in space. Existing optical tracking and positioning equipment generally identifies diffusely reflected positioning markers to establish the spatial position relationship between the patient and the robotic arm. It mainly identifies visible light, and sometimes the identification is unclear. If it encounters non-visible light (such as infrared light), the optical tracking and positioning equipment cannot identify the positioning markers. That is, the existing optical tracking and positioning equipment has a single function and is not very practical.

[0005] In summary, the present invention will solve the above technical problems, namely, the technical problems of inaccurate identification and positioning and single function caused by the fact that the optical tracking and positioning device is greatly affected by ambient light during the positioning process. Utility Model Content

[0006] In order to solve the above-mentioned technical problems, the present application provides a multi-spectral optical tracking and positioning device and a surgical robot, so as to at least solve the technical problems of inaccurate identification and positioning and single function caused by the great influence of ambient light during the positioning process of the optical tracking and positioning device. The present technical solution can be applied to optical tracking devices of visible light and non-visible light, and can also identify diffuse reflection and mirror reflection markers. It has a wide range of applicable scenarios and strong practicality.

[0007] In order to achieve the above-mentioned object, according to one aspect of the present application, a multi-spectral optical tracking and positioning device is provided, the multi-spectral optical tracking and positioning device comprising: an image acquisition device and a coaxial light source, the coaxial light source is mounted on the image acquisition device; the image acquisition device is provided with a camera, a lens and an image sensor, the image sensor is electrically connected to the camera, and the lens is mounted on the camera;

[0008] The coaxial light source includes: a ring light and a circuit board, the ring light is electrically connected to the circuit board, the ring light is coaxial with the lens on the camera, the diameter of the ring light is larger than the diameter of the lens, and the lens is cylindrical; the ring light is installed at the light emitting end of the lens on the camera; the ring light can emit light of different wavelengths. The light emitted by the ring light includes: purple light, blue light, yellow light, infrared light, and of course other types of lights can also be used.

[0009] The coaxial light source can better reflect light, making the field of view brighter. Of course, if an infrared light source is used, infrared light cannot be seen by the human eye, but it can be used in conjunction with the corresponding reflective positioning markers, so that the corner points on the positioning markers can be clearly identified, thereby improving the positioning accuracy. The coaxial light source refers to the coaxial light source with the lens on the camera.

[0010] Preferably, the ring light has at least two lights of different wavelengths. Most preferably, at least one of the lights is invisible light.

[0011] Preferably, the ring light is a ring light composed of multiple LED lamp beads.

[0012] Preferably, the plurality of LED lamp beads are mounted on a circuit board, the plurality of LED lamp beads are distributed around the circumference of the lens, and the LED lamp beads are arranged in at least one circle. The circle formed by the plurality of LED lamp beads is larger than the diameter of the lens and is concentric.

[0013] Preferably, the image acquisition device further comprises: a bracket and a processor, the camera and the processor are both mounted on the bracket, and the processor is electrically connected to the camera, the image sensor, and the coaxial light source.

[0014] According to another aspect of the present application, a surgical robot is provided, comprising: a control console trolley, a robotic arm and a multispectral optical tracking and positioning device, wherein the control console trolley is electrically connected to the robotic arm and the multispectral optical tracking and positioning device, the control console trolley controls the movement of the robotic arm, the control console trolley controls the multispectral optical tracking and positioning device and transmits the target object data signal collected by the multispectral optical tracking and positioning device to the control console trolley.

[0015] In the embodiment of the present application, an image acquisition device and a coaxial light source are used. The coaxial light source can make the image and corner points clearer and improve the accuracy. The coaxial light source includes: a ring light and a circuit board. The ring light is electrically connected to the circuit board. The ring light is coaxial with the lens on the camera and the diameter of the ring light is larger than the diameter of the lens. The ring light is installed at the light emitting end of the lens on the camera. The ring light can emit light of different wavelengths. Light of different wavelengths can identify different types of positioning markers, which has a wide range of applications and strong practicality. It can also make the identification of positioning markers clearer and improve the positioning accuracy. Through the multi-spectral optical tracking and positioning equipment, the technical problems of inaccurate identification and positioning and single function caused by the large influence of ambient light during the positioning process of the optical tracking and positioning equipment are solved. The technical solution can be applied to optical tracking devices of visible light and invisible light, and can also identify diffuse reflection and mirror reflection markers. It has a wide range of applicable scenarios and strong practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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:

[0017] Figure 1 is a structural diagram of a multi-spectral optical tracking and positioning device according to an embodiment of the present application;

[0018] Figure 2 is a schematic diagram of the structure of a surgical robot according to an embodiment of the present application;

[0019] Among them, the numbers shown in the figure indicate: 1. coaxial light source; 11. ring light; 12. circuit board 2. camera; 21. lens; 3. bracket; 4. processor; 5. control cart; 6. robotic arm; 7. multi-spectral optical tracking and positioning equipment. DETAILED DESCRIPTION

[0020] 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.

[0021] It should be noted that the term "comprising" in the specification and claims of this application and the above-mentioned drawings is intended to cover non-exclusive inclusions. In this application, the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "front", "back", etc. are based on the orientations or positional relationships 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.

[0022] 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.

[0023] Example 1

[0024] like Figure 1 As shown, the present application relates to a multi-spectral optical tracking and positioning device, which includes: an image acquisition device and a coaxial light source 1, wherein the coaxial light source is mounted on the image acquisition device; the image acquisition device is provided with a camera 2, a lens 21 and an image sensor, wherein the image sensor is electrically connected to the camera, and the lens is mounted on the camera, and the lens is downwardly facing for collecting data information of a target object below;

[0025] like Figure 1As shown, the coaxial light source includes: a ring light 11 and a circuit board 12, the ring light is electrically connected to the circuit board, the ring light is coaxial with the lens 21 on the camera, the size of the ring light is larger than the size of the lens, because the ring light is circular, the lens is generally cylindrical, so the diameter of the ring light is larger than the diameter of the lens, the purpose of this is to facilitate installation, if the diameter of the ring light is smaller than the diameter of the lens, there will be occlusion, which will affect the field of view, so to have a better field of view, the diameter of the ring light is larger than the diameter of the lens; the ring light is installed at the light emission end of the lens on the camera; the ring light can emit light of different wavelengths. The light emitted by the ring light includes: purple light, blue light, infrared, and of course other types of lights can also be used. The lens on the camera is binocular, of course it can also be trinocular or quadrocular. This embodiment adopts a binocular camera, which can see more fields of view and can obtain a clearer field of view similar to the human eye.

[0026] Coaxial light sources can reflect better, making the field of view brighter. Of course, if infrared light sources are used, the light is not clear to the human eye, but it can be used in conjunction with corresponding reflective positioning markers, so that the corner points on the positioning markers can be clearly identified, thereby improving positioning accuracy. Coaxial light sources refer to those that are coaxial with the lens on the camera.

[0027] like Figure 1 As shown, the ring light is a ring light composed of multiple LED lamp beads.

[0028] The multiple LED lamp beads are mounted on the circuit board, and the multiple LED lamp beads are distributed around the circumference of the lens, and the LED lamp beads are arranged in three circles, and the wavelength of each circle of light is different. The circle surrounded by the multiple LED lamp beads is larger than the diameter of the lens and is concentric.

[0029] like Figure 1 As shown, the image acquisition device also includes: a bracket 3 and a processor 4. The camera and the processor are both mounted on the bracket. The processor is electrically connected to the camera, the image sensor, and the coaxial light source. The binocular cameras are symmetrically mounted on the bracket, and the processor is mounted in the middle of the bracket. The purpose of this is symmetry so that the center of gravity is in the middle of the bracket. The two cameras are mounted on the bracket tilted inward, and the two cameras have overlapping field of view areas at the target object.

[0030] The processor image acquisition device is used to track and collect data on the movement process of the marker to record multiple three-dimensional space coordinates formed by the marker during movement.

[0031] Example 2

[0032] The difference between the second embodiment and the first embodiment is that the ring light is a circle, and at least two lights of different wavelengths are arranged alternately in the circle, one of which is invisible to the human eye. Different lights are arranged alternately on a circle with the same diameter. If there are not three types of lights, three types of lights can be arranged: infrared, purple, and blue.

[0033] Example 3

[0034] According to another aspect of the present application, a surgical robot is provided, comprising: a control trolley 5, a robotic arm 6 and a multispectral optical tracking and positioning device 7, wherein the control trolley is electrically connected to the robotic arm and the multispectral optical tracking and positioning device, the control trolley controls the movement of the robotic arm, the control trolley controls the multispectral optical tracking and positioning device, and transmits the target object data signal collected by the multispectral optical tracking and positioning device to the control trolley.

[0035] In the embodiment of the present application, an image acquisition device and a coaxial light source are used. The coaxial light source can make the image and corner points clearer and improve the accuracy. The coaxial light source includes: a ring light and a circuit board. The ring light is electrically connected to the circuit board. The ring light is coaxial with the lens on the camera and the diameter of the ring light is larger than the diameter of the lens. The ring light is installed at the light emitting end of the lens on the camera. The ring light can emit light of different wavelengths. Light of different wavelengths can identify different types of positioning markers, which has a wide range of applications and strong practicality. It can also make the identification of positioning markers clearer and improve the positioning accuracy. Through the multi-spectral optical tracking and positioning equipment, the technical problems of inaccurate identification and positioning and single function caused by the large influence of ambient light during the positioning process of the optical tracking and positioning equipment are solved. The technical solution can be applied to optical tracking devices of visible light and invisible light, and can also identify diffuse reflection and mirror reflection markers. It has a wide range of applicable scenarios and strong practicality.

[0036] 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. A multi-spectral optical tracking and positioning device, characterized in that: include: An image acquisition device and a coaxial light source (1), wherein the coaxial light source is mounted on the image acquisition device; The image acquisition device is provided with a camera (2), a lens (21) and an image sensor, the image sensor is electrically connected to the camera, and the lens is mounted on the camera; The coaxial light source comprises: a ring light (11) and a circuit board (12); the ring light is electrically connected to the circuit board; the ring light is coaxial with a lens (21) on a camera and the diameter of the ring light is greater than the diameter of the lens; the ring light is mounted on the light emitting end of the lens on the camera; and the ring light can emit light of different wavelengths.

2. The multi-spectral optical tracking and positioning device according to claim 1, characterized in that: The ring light is a ring light composed of multiple LED lamp beads.

3. The multi-spectral optical tracking and positioning device according to claim 2, characterized in that: The multiple LED lamp beads are mounted on a circuit board, and the multiple LED lamp beads are distributed around the circumference of the lens, and the LED lamp beads are arranged in at least one circle.

4. The multi-spectral optical tracking and positioning device according to claim 1, characterized in that: The image acquisition device further comprises: a bracket (3) and a processor (4), the camera and the processor are both mounted on the bracket, and the processor is electrically connected to the camera, the image sensor, and the coaxial light source.

5. A surgical robot, characterized in that: include: A control console vehicle (5), a robotic arm (6) and a multispectral optical tracking and positioning device (7) as described in any one of claims 1 to 4, wherein the control console vehicle is electrically connected to the robotic arm and the multispectral optical tracking and positioning device, respectively, and the control console vehicle controls the movement of the robotic arm, controls the operation of the multispectral optical tracking and positioning device, and transmits the target object data signal collected by the multispectral optical tracking and positioning device to the control console vehicle.

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