Methods and systems for surgical navigation

Abstract

The present invention proposes a method for use in navigating a surgery performed by a surgical system. The method includes: acquiring an image including features on the surgical system; determining a first position of the features in a first coordinate system based on encoder outputs of the arm joints of the surgical system; determining a second position of the features in a second coordinate system based on the image; determining a transformation relationship between the first and second coordinate systems based on the first and second positions; determining the position of a surgical instrument in a first coordinate system based on encoder outputs during surgery; determining the position of the instrument in a second coordinate system based on this position and the transformation relationship; and displaying at least a portion of the instrument in the image based on its position in the second coordinate system.

Description

[Technical Field]

[0001] (Cross-reference of related applications) This disclosure claims priority to U.S. Provisional Patent Application No. 63 / 534,845, “X-RAY SIMULATION SYSTEM,” filed on 27 August 2023, the entirety of which is incorporated herein by reference for all purposes.

[0002] This disclosure relates to surgical assistance technologies, and more particularly to methods and systems for surgical navigation. [Background technology]

[0003] Precise positioning of lesions during surgery generally depends heavily on the surgeon's experience. For example, in minimally invasive orthopedic surgery, surgeons must always take multiple X-ray images to confirm the spatial position of surgical instruments throughout the entire procedure. However, frequent X-ray imaging not only exposes the surgeon and patient to excessive radiation but also significantly increases surgery time. With technological advancements, various surgical navigation systems have been developed to replace the need for multiple X-ray images during surgery. However, conventional surgical navigation systems still rely on additional spatial detection devices such as infrared sensors or electromagnetic field sensors for spatial positioning. Generally, instrument navigation using such external spatial detection devices requires not only the detection device itself but also the installation of detectable components on each surgical instrument and the patient, which increases the complexity of the surgical environment, increases costs, and extends the preparation time for the surgical navigation system. Furthermore, spatial detection devices may become unstable during surgery due to issues such as shielding or electromagnetic interference, further increasing the complexity of the surgery. [Overview of the project]

[0004] This disclosure relates to a method and apparatus for surgical navigation that can accurately guide surgical instruments using only a single medical image.

[0005] According to a first aspect of this disclosure, a method is proposed for use in navigating a surgery performed by a surgical system. The surgical system includes a plurality of arm joints. The method includes: acquiring a first image including a feature on the surgical system; determining a first position of the feature in a first coordinate system based on first outputs of a plurality of encoders corresponding to the plurality of arm joints; determining a second position of the feature in a second coordinate system based on the first image; determining a transformation relationship between the first and second coordinate systems based on the first and second positions; determining a third position of a surgical instrument in a first coordinate system based on second outputs of a plurality of encoders during surgery; determining a fourth position of the instrument in a second coordinate system based on the third position and the transformation relationship; and displaying at least a portion of the instrument in a second image based on the fourth position.

[0006] In some embodiments of the first aspect of this disclosure, the above features include a plurality of markers.

[0007] In some embodiments of the first aspect of this disclosure, the number of markers is four or more.

[0008] In some embodiments of the first aspect of this disclosure, the surgical system further includes a calibration device comprising a plurality of markers provided at the ends of a plurality of arm joints.

[0009] In some embodiments of the first aspect of this disclosure, the surgical system further includes an end effector module for coupling a calibration device and an instrument.

[0010] In some embodiments of the first aspect of this disclosure, when a calibration device and an instrument are coupled to an end effector module, at least a portion of the instrument is surrounded by a plurality of markers of the calibration device in the first image.

[0011] In some embodiments of the first aspect of this disclosure, the second image includes superimposition of the first image and at least a portion of the apparatus.

[0012] In a second aspect of this disclosure, a surgical system, an arm, an output device, and a processor are proposed. The arm includes a plurality of arm joints and a plurality of encoders corresponding to these arm joints. The processor is coupled to these encoders and the output device and is used to acquire a first image taken by a medical imaging system, including features on the surgical system; to determine a first position of the feature in a first coordinate system based on the first outputs of the plurality of encoders; to determine a second position of the feature in a second coordinate system based on the first image; to determine a transformation relationship between the first and second coordinate systems based on the first and second positions; to determine a third position of a surgical instrument in a first coordinate system based on the second outputs of the plurality of encoders during surgery by the surgical system; to determine a fourth position of the instrument in a second coordinate system based on the third position and the transformation relationship; and to display at least a portion of the instrument in a second image by the output device based on the fourth position.

[0013] In some embodiments of the second aspect of this disclosure, the above features include a plurality of markers.

[0014] In some embodiments of the second aspect of this disclosure, the number of markers is four or more.

[0015] In some embodiments of a second aspect of this disclosure, the surgical system further includes a calibration device provided at the end of a plurality of arm joints, which includes a plurality of markers.

[0016] In some embodiments of a second aspect of the present disclosure, the arm further includes an end effector module for coupling a calibration device and an instrument.

[0017] In some embodiments of the second aspect of the present disclosure, when the calibration device and the instrument are coupled to the end effector module, at least a portion of the instrument is surrounded by a plurality of markers of the calibration device in the first image.

[0018] In some embodiments of the second aspect of the present disclosure, the aforementioned second image comprises a superimposition of the first image and at least a portion of the aforementioned instrument.

[0019] In the third aspect of the present disclosure, there is provided a navigation system for use in surgical navigation performed by a surgical system comprising a plurality of arm joints and a plurality of encoders corresponding to said arm joints. The navigation system includes an output device and a processor. The processor is coupled to the output device and the plurality of encoders, and is configured to: acquire a first image captured by a medical imaging system that includes features on the surgical system; determine a first position of the feature in a first coordinate system based on first outputs from the plurality of encoders; determine a second position of the feature in a second coordinate system based on the first image; determine a transformation relationship between the first coordinate system and the second coordinate system based on the first position and the second position; determine a third position of the surgical instrument in the first coordinate system based on second outputs from the plurality of encoders during surgery performed by the surgical system; determine a fourth position of the instrument in the second coordinate system based on the third position and the transformation relationship; and display at least a portion of the instrument in the second image via the output device based on the fourth position.

[0020] In some embodiments of the third aspect of the present disclosure, the aforementioned feature comprises a plurality of markers.

[0021] In some embodiments of the third aspect of the present disclosure, the number of the aforementioned markers is 4 or more.

[0022] In some embodiments of the third aspect of the present disclosure, the aforementioned second image comprises a superimposition of the first image and at least a portion of the aforementioned instrument.

[0023] In a fourth aspect of the present disclosure, a non-temporary computer-readable medium is proposed that stores at least one command, and when the at least one command is executed by a processor of the electronic device, the electronic device performs the method proposed in the first aspect of the present disclosure.

[0024] The various embodiments disclosed in the examples are best understood by referring to the embodiments and accompanying drawings below. Each feature is not drawn to scale. For clarity, the dimensions of each feature may be arbitrarily enlarged or reduced. [Brief explanation of the drawing]

[0025] [Figure 1] This is a block diagram of a surgical system as shown in one embodiment of the present disclosure. [Figure 2] This is a schematic diagram of a surgical system as shown in one embodiment of the present disclosure. [Figure 3] This is a schematic diagram of an arm shown in one embodiment of the present disclosure. [Figure 4A] This is a schematic diagram of the arrangement of an arm joint using a magnetic encoder as shown in one embodiment of the present disclosure. [Figure 4B] This is a schematic diagram of the arrangement of an arm joint using a magnetic encoder as shown in one embodiment of the present disclosure. [Figure 4C] This is a schematic diagram of the arrangement of an arm joint using a magnetic encoder as shown in one embodiment of the present disclosure. [Figure 4D] This is a schematic diagram of the arrangement of an arm joint using a magnetic encoder as shown in one embodiment of the present disclosure. [Figure 4E] This is a schematic diagram of the arrangement of an arm joint using a magnetic encoder as shown in one embodiment of the present disclosure. [Figure 5A] This is a schematic diagram of the arrangement of an arm joint using a capacitive encoder as shown in one embodiment of the present disclosure. [Figure 5B]This is a schematic diagram of the arrangement of an arm joint using a capacitive encoder as shown in one embodiment of the present disclosure. [Figure 5C] This is a schematic diagram of the arrangement of an arm joint using a capacitive encoder as shown in one embodiment of the present disclosure. [Figure 5D] This is a schematic diagram of the arrangement of an arm joint using a capacitive encoder as shown in one embodiment of the present disclosure. [Figure 6] This is a schematic diagram of the terminal adapter structure shown in one embodiment of the present disclosure. [Figure 7] This is a schematic diagram of a structure for connecting / securing / restricting the devices shown in one embodiment of the present disclosure. [Figure 8] This is a schematic diagram of the method for determining the marker position as shown in one embodiment of the present disclosure. [Figure 9] This is a schematic diagram illustrating the determination of the device position as shown in one embodiment of the present disclosure. [Figure 10] This is a schematic diagram of a calibration device as shown in one embodiment of the present disclosure. [Figure 11A] This is a schematic diagram of a marker on a calibration device as shown in one embodiment of the present disclosure. [Figure 11B] This is a schematic diagram of a marker on a calibration device as shown in one embodiment of the present disclosure. [Figure 11C] This is a schematic diagram of a marker on a calibration device as shown in one embodiment of the present disclosure. [Figure 11D] This is a schematic diagram of a marker on a calibration device as shown in one embodiment of the present disclosure. [Figure 11E] This is a schematic diagram of a marker on a calibration device as shown in one embodiment of the present disclosure. [Figure 12] This is a flowchart of a method / flow for surgical navigation as demonstrated in one embodiment of the present disclosure. [Figure 13] This is a schematic diagram of the output image shown in one embodiment of the present disclosure. [Modes for carrying out the invention]

[0026] The following description contains specific information relating to exemplary embodiments in this disclosure. The drawings and accompanying detailed descriptions in this disclosure are merely illustrative embodiments. However, this disclosure is not limited to these exemplary embodiments. Those skilled in the art will be able to conceive of other variations and embodiments of this disclosure. Unless otherwise specified, the same or corresponding elements in the drawings may be indicated by the same or corresponding reference numerals. Also, the drawings and examples in this disclosure are not generally drawn to scale and are not intended to correspond to actual relative dimensions.

[0027] For consistency and ease of understanding, the same features are indicated by reference numerals in the illustrative drawings (although this is not the case in some examples). However, features in different embodiments may differ in other aspects, and therefore, the features shown in the drawings should not be strictly limited.

[0028] Terms such as “at least one embodiment,” “one embodiment,” “multiple embodiments,” “different embodiments,” “several embodiments,” and “this embodiment” may indicate that embodiments of the disclosure described herein may include certain features, structures, or characteristics, but not all possible embodiments of the disclosure necessarily include those features, structures, or characteristics. Also, when the phrases “in one embodiment” or “in this embodiment” are used repeatedly, they may be the same but do not necessarily refer to the same embodiment. Furthermore, when a phrase such as “embodiment” is used in relation to “this disclosure,” it should be understood that not all embodiments of the disclosure necessarily include certain features, structures, or characteristics, but rather that “at least some embodiments of the disclosure” include those features, structures, or characteristics. The technical term “connection” is defined as connection, whether directly or indirectly through intermediate elements, and is not necessarily limited to physical connection. When the technical term “includes” is used, it means “includes them, but not limited to them,” explicitly indicating an open inclusion or relationship of their combinations, groups, series, and equivalents.

[0029] Furthermore, for interpretation and non-restrictive purposes, specific details such as functional entities, technologies, protocols, and specifications are described to facilitate understanding of the described technology. In other instances, detailed descriptions of well-known methods, technologies, systems, and architectures are omitted to avoid ambiguity in the descriptive text due to unnecessary details.

[0030] The technical terms “First,” “Second,” and “Third,” etc., in the specification and drawings of this disclosure are not intended to describe a specific order, but to distinguish different articles. Furthermore, the technical term “including” and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus comprising a series of steps or modules is not limited to the listed steps or modules, but may optionally further include steps or modules not listed, or may optionally further include other steps or modules specific to those processes, methods, products, or apparatus.

[0031] The following description will explain several embodiments of this disclosure with reference to the drawings.

[0032] Figure 1 is a block diagram of a surgical system shown in one embodiment of the present disclosure, and Figure 2 is a schematic diagram of a surgical system shown in one embodiment of the present disclosure.

[0033] Referring to Figures 1 and 2, the surgical system 1 can perform (surgical) procedures on patient 3. The surgical system 1 includes at least one arm 10 and a navigation system 20. The navigation system 20 includes an output device 21 and a processor 22 coupled to the output device 21, which acquires medical images from the medical imaging system 2. The at least one arm 10 may be, for example, a robotic arm.

[0034] In some embodiments, medical imaging system 2 is an X-ray imaging system. The X-ray imaging system may include a C-arm, computed tomography (CT), a three-dimensional C-arm, an O-arm, a handheld X-ray imaging device, a surgical table incorporating an X-ray light source, and / or other devices having an X-ray light source.

[0035] In some embodiments, the medical imaging system 2 is either a magnetic resonance imaging (MRI) system or a positron emission tomography (PET) system.

[0036] In some embodiments, the processor 22 is coupled to the medical imaging system 2. After medical images are captured using the medical imaging system 2, the processor 22 acquires these medical images.

[0037] In some embodiments, the processor 22 is coupled to a device with an imaging function, and medical images are acquired by re-imaging. Specifically, after capturing a medical image using the medical imaging system 2 and obtaining the output of the image, the device with the imaging function can capture the output of the medical imaging system 2 and input it to the processor 22. The device with the imaging function may include, for example, a mobile phone and / or a camera. The above input can be carried out by various transmission means, for example, a wired interface (e.g., Type C, Universal Serial Bus, USB) or wireless transmission means (e.g., Wi-Fi and Bluetooth®, etc.).

[0038] It should be noted that any function or algorithm performed by the processor 22 can be implemented by software, hardware, firmware, or any combination thereof. In some embodiments, software implementation includes computer-executable commands stored in a computer-readable medium (e.g., non-temporary) (e.g., memory or other types of storage devices).

[0039] In some embodiments, the output device 21 is configured to present information from the navigation system 20 to the user in a visualized format (e.g., 2D / 3D images). In some embodiments, the information includes simulated images generated by the navigation system 20. In some embodiments, the information includes at least one of medical images taken by the medical imaging system 2, surgical instrument contour images, images of simulated medical imaging equipment, field of view (FOV) of the simulated medical imaging equipment, guide instructions provided to the user, and / or a combination / superposition thereof.

[0040] In some embodiments, the output device 21 includes at least one display arranged according to the user's personal preferences. The at least one display can present in the form of a 360-degree annular screen or projected images, such as light field 3D, floating pictogram technology (FPT), floating virtual screen, or holographic projection. In some embodiments, the output device 21 includes a head-mounted device utilizing virtual reality (VR), augmented reality (AR), or mixed reality (MR) methods.

[0041] In some embodiments, the arm 10 includes a multi-joint module 11. The multi-joint module 11 may include, for example, multiple arm joints, at least one connecting axis, and, if necessary, an adapter interface. As shown in Figure 2, at least one connecting axis is arranged to connect the arm joints, and the adapter interface is arranged as a fixing device to connect and fix the arm 10 to, for example, a height adjuster, a side rail clamp, or a workstation.

[0042] Referring to Figure 2, in some embodiments, the articulated module 11 further includes an end effector module, which is arranged to be directly or indirectly connected to a terminal adapter structure 12 for connecting a tool such as a calibration device 30 or instrument (described below). In some embodiments, at least one tool is connected to both the end effector module and the terminal adapter structure 12. In some embodiments, the end effector module is connected to the terminal adapter structure 12. In some embodiments, the end effector module includes the terminal adapter structure 12.

[0043] In some embodiments, the articulated module 11 further includes one or more encoders, so that each arm joint corresponds to one encoder and obtains the movement / rotation information of the corresponding arm joint.

[0044] In some embodiments, all or part of the arm joints are rotational joints and have at least one degree of freedom. In some embodiments, to achieve more favorable operational flexibility, the arm 10 can achieve at least six degrees of freedom by combining the arm joints.

[0045] Figure 3 is a schematic diagram of an arm shown in one embodiment of the present disclosure.

[0046] Referring to Figure 3, in some embodiments, the arm 10 may include a multi-joint module 11, an end-effector module 110f, a plurality of connecting axes 111a, 111b, 111c, 111d, and an adapter interface 112. The multi-joint module 11 may include a plurality of arm joints 110a, 110b, 110c, 110d, 110e, and each arm joint 110a, 110b, 110c, 110d, 110e may be connected to / include / correspond to an encoder (not shown in Figure 3), and the information detected by the encoder can be used to calculate the three-dimensional coordinate system information of the arm 10. The three-dimensional coordinate system information of the arm 10 may include 6-degree-of-freedom information for each endpoint of the arm 10. These endpoints may include at least one root end 101 of the arm 10, each arm joint 110a, 110b, 110c, 110d, 110e, an end effector module 110f, and the tip 102 of the arm 10. In some embodiments, the tip 102 may be located on the end effector module 110f. The arm 10 may be a passively articulated arm or an active arm. In some embodiments, the end effector module 110f may be connected to / include / correspond to an encoder. In some embodiments, the end effector module 110f may be considered as one of the arm joints.

[0047] In some embodiments, the encoders corresponding to the arm joints may be coupled to the processor 22 of the navigation system 20, thereby enabling the processor 22 to obtain the encoder outputs. In some embodiments, all of the encoders may be coupled to the controller of the arm 10 (for example, located at the base of the arm 10), and the processor 22 may be coupled to the controller.

[0048] In some embodiments, each encoder may be a magnetic encoder, a capacitive encoder, and / or an optical encoder. A magnetic encoder may be, for example, a non-contact magnetic encoder. In some embodiments, each encoder is connected to the output shaft of the corresponding arm joint to reduce measurement errors caused by the transmission mechanism. In some embodiments, all components within each arm joint are assembled coaxially.

[0049] Figures 4A to 4E are schematic diagrams of the arrangement of an arm joint using a magnetic encoder as shown in one embodiment of the present disclosure. In the embodiment with reference to Figures 4A to 4E, arm joints 110a and 110b are used as illustrative examples. However, it should be understood that the specific positions of arm joints 110a and 110b on the arm 10 are not limited to this description. Arm joints 110a and 110b may be, for example, rotary joints.

[0050] Referring to Figure 4A, in some embodiments, the arm joint 110a may include a base 1100a that supports the internal components of the arm joint 110a. The magnetic encoder 1103a may be used in combination with a magnet 1105a, which may be connected to the rotating shaft 1101a. The arm joint 110a may also include a bearing 1107a and a nut 1106a fitted onto the rotating shaft 1101a. The bearing 1107a can ensure the rotational motion of the rotating shaft 1101a by supporting the rotating shaft 1101a and counteracting radial forces. The nut 1106a can fix the rotating shaft 1101a and prevent it from slipping away from the bearing 1107a. The rotating shaft 1101a, brake 1102a, magnet 1105a and encoder 1103a in the arm joint 110a can be assembled, for example, coaxially.

[0051] The arm joint 110b may include a base 1100b that supports the internal components of the arm joint 110b and a fixing holder 11031b for fixing the magnetic encoder 1103b. The magnetic encoder 1103b may be used in combination with a magnet 1105b, and the magnet 1105b may be connected to the rotating shaft 1101b. The arm joint 110b may also include bearings 11071b, 11072b and a nut 1106b that are fitted onto the rotating shaft 1101b. The bearings 11071b and 11072b can ensure the rotational motion of the rotating shaft 1101b by supporting the rotating shaft 1101b and counteracting radial forces. The nut 1106b can fix the rotating shaft 1101b and prevent it from slipping away from the bearing 11072b. The rotation axis 1101b, brake 1102b, magnet 1105b, and encoder 1103b in the arm joint 110b can be assembled, for example, coaxially.

[0052] Referring to Figure 4B, in some embodiments, the arm joint may include a torque reducer. The arm joint 110a may include a reducer 1104a connected to one side of the brake 1102a, and the magnet 1105a may be connected to the other side of the brake 1102a. The magnetic encoder 1103a may be positioned relative to the magnet 1105a and fixed to the base 1100a of the arm joint 110a.

[0053] In some embodiments, the magnet in the arm joint may be a magnetic ring.

[0054] Referring to Figure 4C, in some embodiments, the arm joint 110a may include a magnet 1105a (magnetic ring) fitted onto the output shaft end 11041a of the reduction gear 1104a, and the magnetic encoder 1103a may be positioned relative to the magnet 1105a. The magnet 1105a may be fitted onto the output shaft end 11041a of the reduction gear 1104a and positioned on the opposite side of the output shaft end 11041a of the reduction gear 1104a, or positioned on one side of the reduction gear 1104a. The magnetic encoder 1103a may be positioned relative to the magnet 1105a. Advantageously, this arrangement saves internal space in the arm joint and allows the magnet 1105a to be separated from the electromagnetic brake 1102a, thus avoiding magnetic interference.

[0055] Referring to Figure 4D, in some embodiments, the magnetic ring 1105a may be positioned on the opposite side of the output shaft end 11041a of the reduction gear 1104a. Referring to Figure 4E, in some embodiments, the magnetic ring 1105a may be positioned on one side of the reduction gear 1104a.

[0056] Figures 5A to 5D are schematic diagrams of the arrangement of an arm joint using a capacitive encoder as shown in one embodiment of the present disclosure. In the embodiment with reference to Figures 5A to 5D, the arm joint 110a is used as an illustrative example. However, it should be understood that the specific position of the arm joint 110a on the arm 10 is not limited to this description. The arm joint 110a may be, for example, a rotary joint.

[0057] In some embodiments, the arm joint using a capacitive encoder may include a rotating shaft, a brake, and an encoder. In some embodiments, the arm joint may further include a reduction gear, and the rotating shaft, brake, encoder, and reduction gear may be assembled, for example, coaxially.

[0058] Referring to Figure 5A, in some embodiments, the brake 1102a within the arm joint 110a may be connected to the reduction gear 1104a, and the capacitive encoder 1103a may be fitted onto the output shaft end 11041a of the reduction gear 1104a. This arrangement has the advantage of reducing the measurement error of the encoder 1103a caused by the transmission mechanism.

[0059] In some embodiments, the capacitive encoder 1103a may be positioned at the output shaft end 11021a of the brake 1102a.

[0060] Referring to Figure 5B, in some embodiments, the reduction gear 1104a within the arm joint 110a may be connected to one side of the brake 1102a, and the capacitive encoder 1103a may be connected to the other side of the brake 1102a. The capacitive encoder 1103a has a hollow design and may be fitted onto the output shaft end 11021a of the brake 1102a.

[0061] Referring to Figure 5C, in some embodiments, the reduction gear 1104a in the arm joint 110a may be connected to one side of the brake 1102a, and the capacitive encoder 1103a may be connected to the other side of the brake 1102a. The output shaft end 11021a of the brake 1102a may be connected to the output shaft 11032a of the encoder 1103a via the coupling 1108a.

[0062] Referring to Figure 5D, in some embodiments, both the brake 1102a and the capacitive encoder 1103a are hollow in design. In this design, the reducer 1104a within the arm joint 110a may be connected to one side of the brake 1102a, and the capacitive encoder 1103a may be connected to the other side of the brake 1102a. By connecting the brake 1102a and the capacitive encoder 1103a via the long shaft 1109a, the need for coupling is eliminated and the axial length of the arm joint 110a can be reduced.

[0063] Returning to Figure 3, the relative relationship (e.g., spatial relationship) between two points on the arm 10 (e.g., the tip 102 and the root 101) can be determined by using the outputs of the encoders corresponding to the arm joints 110a, 110b, 110c, 110d, and 110e, for example by using the rotation angles of each arm joint detected by the encoders, the mechanical parameters of the arm 10 (e.g., the dimensions and / or arrangement of each component), and / or the forward kinematics.

[0064] In some embodiments, the relative relationship described above may include positional and / or angular information. In other words, the relative relationship may include six degrees of freedom. It should be noted that, for the sake of brevity, unless otherwise specified, this disclosure describes only embodiments that use positional information.

[0065] In some embodiments, the relative relationship between the tip 102 and the root end 101 of the arm 10 may be expressed as position / coordinates in a first coordinate system with the root end 101 as the reference point or origin. In some embodiments, the first coordinate system may be a three-dimensional coordinate system such as a Euclidean coordinate system or a spherical coordinate system.

[0066] Returning to Figure 3, in some embodiments, the tip 102 may be located at one end of the end effector module 110f of the arm 10, and the end adapter structure 12 may be connected to the tip 102. In some embodiments, as described above, the end adapter structure 12 may be considered as part of the end effector module 110f.

[0067] Figure 6 is a schematic diagram of a terminal adapter structure shown in one embodiment of the present disclosure.

[0068] Referring to Figure 6, the terminal adapter structure 12 may be positioned to connect the calibration device 30 and the (surgical) instrument 40.

[0069] In some embodiments, the terminal adapter structure 12 may include a first structure (not shown) and a second structure 120, where the first structure may be arranged to detachably connect the calibration device 30, and the second structure 120 may be arranged to detachably connect, fix, and / or restrict the instrument 40. In some examples, the first structure may be a connector. In some examples, the second structure may include at least one connector, fixing device, or limiter (e.g., limiting linear motion).

[0070] In some embodiments, the terminal adapter structure 12 may include a first structure for connecting the calibration device 30, and the calibration device 30 may include a second structure 120 for connecting or restricting the instrument 40.

[0071] In some embodiments, the position / coordinate of any point in the calibration device 30 / instrument 40 in the first coordinate system can be determined by the above method based on the mechanical parameters of the end effector module, the end adapter structure 12, and the calibration device 30 / instrument 40.

[0072] In some embodiments, the (surgical) instruments 40 can be used to perform (surgical) operations and may include at least one manual or power-driven surgical tool.

[0073] In some embodiments, the second structure 120 for connecting / securing / restricting the fixtures 40 may include a sleeve, which may be a single-dimension sleeve or an expandable sleeve with an adjustable hole diameter to accommodate fixtures 40 of different dimensions or shapes. The sleeve may secure the fixtures 40 by any form of fastening. The sleeve may further have a function to restrict the operation of the fixtures 40.

[0074] Figure 7 is a schematic diagram of a structure for connecting / securing / restricting devices as shown in one embodiment of the present disclosure.

[0075] Referring to Figure 7, the end effector module 110f of the arm 10 may be connected to a terminal adapter structure 12, which may include a second structure 120. The second structure 120 may include a sleeve set 121, a limiting mechanism 122, and a clamping mechanism 123. The sleeve set 121 is positioned to secure the instrument 40. The clamping mechanism 123 allows the user to quickly grasp and remove the instrument 40 in order to quickly switch to a general surgical mode without using the arm 10. The limiting mechanism 122 can be used to limit the axial depth of the instrument 40. For example, the limiting mechanism 122 may employ various forms such as screw locks, magnetic adsorption, telescopic adjustment, quick release, engagement and / or integrated designs.

[0076] In some embodiments, the height H1 of the limiting mechanism 122 is adjustable. By adjusting the height H1, the axial depth limit of the fixture 40 can be changed. The height H1 of the limiting mechanism 122 can be adjusted by swapping limiting mechanisms of different heights, using limiting mechanisms with adjustable heights, or stacking multiple limiting mechanisms. In some embodiments, to facilitate the attachment / detachment of the limiting mechanism 122 and the fixture 40, a groove may be provided on one side of the limiting mechanism 122 for quick attachment / detachment of the fixture 40.

[0077] An advantage is that, while the user is manipulating the instrument 40 during surgery, the instrument 40 does not deviate from the angle permitted by the second structure 120, nor does it exceed the range set by the second structure 120.

[0078] In some embodiments, the second structure 120 may further include a slide rail. The slide rail is allowed to slide only when the arm joint of the arm 10 is locked, ensuring that the instrument 40 can move axially along the aligned target path. In this case, the axial depth of the instrument 40 can be adjusted by the slide rail. Furthermore, the travel depth of the slide rail can be calculated by introducing a depth calculation mechanism. The depth calculation mechanism may include, for example, an encoder or optical scale structure on the slide rail.

[0079] In some embodiments, the calibration device 30, used for image correction, can determine the transformation relationship between a three-dimensional coordinate system and the coordinate system of an image captured by the medical imaging system 2. Specifically, as described above, the first position / coordinate of a particular point (e.g., a particular point on the calibration device 30) can be expressed with respect to the first coordinate system. When these particular points are located within the field of view of the medical imaging system 2, the second position / coordinate of these particular points in the image captured by the medical imaging system 2 can be expressed with respect to a second coordinate system describing the image space. The first position / coordinate and the second position / coordinate can be used to determine the transformation relationship between the first and second coordinate systems, which can be expressed, for example, as a transformation matrix. In this case, any first position / coordinate in the first coordinate system can be transformed to a second position / coordinate in the second coordinate system by the transformation relationship. In some embodiments, the second coordinate system may be a two-dimensional coordinate system, such as a Cartesian coordinate system or a polar coordinate system. In some embodiments, the second coordinate system may be a three-dimensional coordinate system, such as a Euclidean coordinate system or a spherical coordinate system.

[0080] In some embodiments, the calibration device 30 may include specific features captured by the medical imaging system 2 in order to achieve the above image correction. In some examples, the specific features may be one or more markers.

[0081] In some embodiments, at least two markers on the calibration device 30 have different absorption rates to the radiation (e.g., X-rays) used in the medical imaging system 2. In some embodiments, at least two positions within a single (or each) marker have different absorption rates to the radiation used in the medical imaging system 2. Advantageously, when the image acquired by the medical imaging system 2 includes both the calibration device 30 / markers and the target area (e.g., lesion area, anatomical structure and / or anatomical region), all of the markers are not confused with the image of the target area (e.g., skeleton), making them difficult to distinguish.

[0082] In some embodiments, the markers may be non-coplanar so as to form a controlled volume. For example, the markers may be located on at least two different planes, including, for example, a first plane and a second plane. In some examples, the first plane and the second plane may be parallel to each other.

[0083] In some embodiments, the calibration device 30 may include four or five markers. In some embodiments, the calibration device 30 may include at least six markers. In some examples, at least one marker is non-coplanar with the other markers in order to satisfy the algorithmic requirements for image correction.

[0084] In some embodiments, at least three markers lie on a first plane and at least three markers lie on a second plane. In some embodiments, the at least three markers on the first plane may define one ring on the first plane, and the at least three markers on the second plane may define another ring on the second plane.

[0085] In some embodiments, the material constituting the marker is capable of imaging into images captured by the medical imaging system 2. For example, these markers may be made of a material that has a high absorption rate to the radiation of the medical imaging system 2 (for example, for an X-ray imaging system, these materials may be metal or ceramic).

[0086] In some embodiments, the markers on the calibration device 30 may have known relative relationships and geometric properties. Therefore, when the calibration device 30 is connected to the terminal adapter structure 12, the position of the markers (for example, with respect to a first coordinate system) can be known or determined based on the above method.

[0087] Figure 8 is a schematic diagram of the marker position determination method as shown in one embodiment of the present disclosure.

[0088] Referring to Figure 8, when the calibration device 30 is connected to the end adapter structure 12, the position P of the marker 32 in the first coordinate system (for example, with the position P0 of the root end 101 as the reference point or origin) 0,4 This can be determined.

[0089] For example, as described above, in the first coordinate system, the position P of tip 102 0,1 This can be determined by the encoder outputs corresponding to the arm joints 110a, 110b, 110c, 110d, and 110e of the arm 10, the mechanical parameters of the arm 10 (e.g., dimensions and / or arrangement of each component), and / or forward kinematics. Also, the relative position P of the first structure with respect to the tip 102. 1,2 This can be determined by known parameters of the terminal adapter structure 12 (e.g., dimensions and / or arrangement) and the relative position P of a specific point on the calibration device 30 with respect to the first structure. 2,3 This can be determined by known parameters of the calibration device 30, and the relative position P of the marker 32 with respect to a specific point on the calibration device 30. 3,4can be determined based on known parameters of the calibration device 30. In this case, the position P of the marker 32 relative to the first coordinate system 0,4 is the position P 0,1 , P 1,2 , P 2,3 and P 3,4 can be determined.

[0090] FIG. 9 is a schematic diagram of instrument position determination shown according to an embodiment of the present disclosure.

[0091] Referring to FIG. 9, when the instrument 40 is coupled / fixed to the distal adapter structure 12, the position P' of the instrument 40 (e.g., including the apex position of the instrument 40) in the first coordinate system (e.g., with the position P0 of the proximal end 101 as a reference point or origin) 0,3 can be determined.

[0092] For example, as described above, in the first coordinate system, the position P' of the distal end 102 0,1 can be determined by encoder outputs corresponding to the arm joints 110a, 110b, 110c, 110d, 110e of the arm 10, mechanical parameters of the arm 10 (e.g., dimensions and / or arrangements of respective components), and / or forward kinematics. Furthermore, the relative position P' of the second structure 120 with respect to the distal end 102 1,2 can be determined by known parameters (e.g., dimensions and / or arrangements) of the distal adapter structure 12, and the relative position P' of the instrument 40 (e.g., including the apex position of the instrument 40) with respect to the second structure 120 2,3 can be determined by known parameters of the instrument 40 and / or the second structure 120. In this case, the position P' of the instrument 40 in the first coordinate system 0,3 is the position P' 0,1 , P' 1,2 and P' 2,3 can be determined.

[0093] FIG. 10 is a schematic diagram of a calibration device shown according to an embodiment of the present disclosure.

[0094] Referring to Figure 10, the calibration device 30 may include a structural frame 31 and a plurality (e.g., six) of markers 32a, 32b, 32c, 32d, 32e, and 32f. The structural frame 31 may include a first ring located in a first plane and a second ring located in a second plane that is separate from and parallel to the first plane. Markers 32a, 32b, and 32c may be located on the first ring, and markers 32d, 32e, and 32f may be located on the second ring.

[0095] In some embodiments, the first and second rings may be concentric. In such cases, the two rings can be determined based on markers 32a, 32b, 32c, 32d, 32e, and 32f in a two-dimensional image, and the axial direction (for example in three-dimensional space) can be determined by the centers of these two rings. In some examples, the relative relationship between the calibration device 30, the instrument 40, and the end adapter structure 12 may be arranged as shown in Figure 6, in which case the axial direction determined by the centers of the two rings can also determine the orientation of the instrument 40.

[0096] In some embodiments, the dimensions of the first ring and the second ring may be the same. In other words, the first ring and the second ring can define a hollow cylinder.

[0097] In some embodiments, the dimensions of the first ring and the second ring may differ. In other words, the first ring and the second ring can define a frustum of a hollow cone.

[0098] In some embodiments, the material of the structural frame 31 may have an absorption rate to radiation used in the medical imaging system 2 that is lower than the absorption rate of all or at least one of the markers. In such cases, the two rings can be determined in the two-dimensional image without using markers for detection and calculation.

[0099] Figures 11A to 11E are schematic diagrams of markers on a calibration device as shown in one embodiment of the present disclosure.

[0100] In some embodiments, at least two markers have different absorption rates to the radiation (e.g., X-rays) used in the medical imaging system 2. Advantageously, this arrangement allows the markers and target regions to avoid interference with each other, enabling identification of each marker and target region in the image, and facilitating image recovery, enhancement, sharpening, and noise reduction. Using multiple markers with different absorption rates can aid in the identification of each marker in the medical image, improving the efficiency of image correction.

[0101] In some embodiments, different absorption rates can be achieved by fillable markers. In some examples, all or at least one of the markers may be designed to be fillable.

[0102] Referring to Figure 11A, the calibration device 30 may include a structural frame 31 and markers 32a, 32b, 32c, 32d, 32e, and 32f. Each marker 32a, 32b, 32c, 32d, 32e, and 32f may include a housing (for example, at least part of which is transparent or semi-transparent to the radiation) and a gate 321a, 321b, 321c, 321d, 321e, and 321f. Each marker 32a, 32b, 32c, 32d, 32e, and 32f can have its visibility in images acquired by the medical imaging system 2 enhanced by filling it with contrast agent controlled by a pump passing through the gates 321a, 321b, 321c, 321d, 321e, and 321f. Advantageously, to avoid impact on the identification of target regions, the user may select the marker to be filled (for example, based on pre-acquired images). In the example shown in Figure 11A, markers 32a and 32b are filled with contrast agent, but markers 32c, 32d, 32e, and 32f are not.

[0103] In some embodiments, the markers may be arranged in a grid.

[0104] Referring to Figure 11B, the calibration device 30 may include a structural frame 31 and a feature 32. The feature 32 may include a plurality of markers 32a, 32b, 32c, 32d, 32e, 32f, 32g, 32h, and 32i, which may be cells with known dimensions in the grid. Adjacent cells / markers have different absorptivity to the radiation used in the medical imaging system 2. For example, the absorptivity of cells / markers 32f, 32g, 32h, and 32i may be higher than that of cells / markers 32a, 32b, 32c, 32d, and 32e. For example, cells / markers 32f, 32g, 32h, and 32i may be able to absorb the above radiation, while cells / markers 32a, 32b, 32c, 32d, and 32e may not be able to absorb the above radiation. In such cases, image contrast can be enhanced by image post-processing based on the known absorptivity differences between these cells / markers. Furthermore, image processing allows the center point of each cell / marker to be extracted as a coordinate point for image correction.

[0105] In some embodiments, different absorption rates may be achieved through geometric differences.

[0106] Referring to Figure 11C, the calibration device 30 may include a structural frame 31 and markers 325 and 326. Marker 325 may be a convex structure on the structural frame 31 (e.g., cylindrical, spherical, or hemispherical shape). On the other hand, marker 326 may be a concave structure on the structural frame 31 (e.g., cylindrical, spherical, or hemispherical shape). In such cases, the geometric difference between markers 325 and 326 can create a contrast difference with the structural frame 31 in the image (e.g., an X-ray image). In some embodiments, the markers 325 and 326 and the structural frame 31 can be manufactured from materials that can produce a contrast difference in the image. For example, markers 325 and 326 may be tungsten steel balls, while the structural frame 31 may be an aluminum alloy frame.

[0107] In some embodiments, different absorption rates may be achieved by a multilayer structure. In some embodiments, the layers in the multilayer structure are adjustable.

[0108] Referring to Figure 11D, the calibration device 30 may include a structural frame 31 and markers 32a and 32b, and each marker 32a and 32b may include a multilayer structure. Specifically, each marker 32a and 32b may include one or more imaging layers (for example, each layer having the same absorption rate). For example, marker 32a may have two imaging layers 3241a and 3242a, while marker 32b may have one imaging layer 3241b, so the absorption rate of marker 32a is higher than that of marker 32b. In some embodiments, the imaging layers in the multilayer structure of the markers are adjustable. The user can adjust the configuration of the imaging layers according to the conditions of the image acquired by the medical imaging system 2. For example, if the image contrast is poor or markers 32a and 32b are obstructing the visibility of the patient's anatomical features, the image quality can be improved by adjusting the number of imaging layers in markers 32a and 32b (for example, increasing or decreasing them).

[0109] In some embodiments, one or each marker has at least two locations with different absorption rates to the radiation used by the medical imaging system 2. Advantageously, this arrangement ensures that each marker is at least partially visible in the images captured by the medical imaging system 2.

[0110] In some embodiments, markers having two positions with different absorption rates may be realized using composite materials.

[0111] Referring to Figure 11E, the marker 32a may include a large sphere 322a with a small sphere 323a embedded inside. The spheres 322a and 323a may have different absorption rates and can be imaged in an image (e.g., an X-ray image). From another perspective, these two spheres 322a and 323a may be considered different markers.

[0112] Referring to Figure 11E, the marker 32b may include a large sphere 322b with a small sphere 323b embedded inside. The sphere 323b may form a hollow structure within the sphere 322b, thus allowing the spheres 322b and 323b to have different absorption rates. From another perspective, these two spheres 322b and 323b may be considered different markers.

[0113] An advantage of this arrangement is that it reduces the space occupied by the markers (e.g., 322a, 322b, 323a, and 323b) and further reduces the markers' obstruction of the patient's anatomical features in the image.

[0114] Figure 12 is a flowchart of a method / flow for surgical navigation as shown in one embodiment of the present disclosure. In some embodiments, flow 1200 may be performed using the navigation system 20 in combination with the arm 10 described in Figures 1 to 11. It should be noted that although operations 1202, 1204, 1206, 1208, 1210, 1212, and 1214 are shown as separate operations in separate blocks in Figure 12, these operations should not be understood as necessarily dependent on this execution order. Unless otherwise specified, the order of operations in Figure 12 should not be understood as limiting, and any number of disclosed blocks may be combined in any order to perform this method or alternative method. Furthermore, any one of operations 1202, 1204, 1206, 1208, 1210, 1212, and 1214 may be performed independently of the others and may be omitted in some embodiments.

[0115] In some embodiments, a surgical procedure can be performed using the arm 10 and the (surgical) instrument 40, and the navigation system 20 can navigate the surgery by displaying / presenting guide information related to the instrument 40, including its spatial positioning, appearance, and / or movement status. For example, the navigation system 20 can display a medical image of the patient and a virtual surgical instrument, and the position of the virtual surgical instrument in the medical image can move in accordance with the actual movement of the instrument 40 in space.

[0116] Referring to Figure 12, in operation 1202, the navigation system 20 can initiate flow 1200 by acquiring a first image containing features on the surgical system 1. Specifically, the first image may include a medical image, which may be captured by the medical imaging system 2. The processor 22 may acquire the first image from the medical imaging system 2 or by a re-acquisition process, but the disclosure is not limited thereto.

[0117] In some embodiments, as described above, the feature in the first image may be a marker 32 on the calibration device 30. Specifically, when performing operation 1202, the user may ensure that the calibration device 30 is connected to the terminal adapter structure 12 and that the markers 32 on the calibration device 30 (e.g., four, five, six or more markers) are located within the field of view of the medical imaging system 2.

[0118] In some embodiments, the first image may further include the patient's target area. For example, when acquiring a medical image using the medical imaging system 2, the user can align all or part of the surgical target area with a window formed by markers 32 on the calibration device 30. Thus, in the medical image, these markers 32 may surround all or part of the surgical target area.

[0119] Returning to Figure 6, in some embodiments, the first and second structures 120 may be arranged such that the marker 32 in the first image surrounds the position of at least a portion of the instrument 40 (e.g., the apex or tip) when the first structure connects the calibration device 30 and the second structure 120 connects / fixes the instrument 40. This arrangement allows for a more accurate prediction of the position of at least a portion of the instrument 40, as it is later necessary to predict the position of at least a portion of the instrument 40 in the image or the relative position of at least a portion of the instrument 40 to a target area.

[0120] In operation 1204, the navigation system 20 can determine a first position of the feature in a first coordinate system based on the first outputs of multiple encoders corresponding to multiple arm joints 110a, 110b, 110c, 110d, and 110e.

[0121] Specifically, the processor 22 can determine the first position / coordinate of the marker 32 in the first coordinate system based on the above method using encoder outputs corresponding to the arm joints 110a, 110b, 110c, 110d, and 110e.

[0122] In operation 1206, the navigation system 20 can determine the second position of the feature in the second coordinate system based on the first image.

[0123] In some embodiments, when a medical imaging system 2 captures a medical image in the first image, if the marker is located within the field of view of the medical imaging system 2, the second position / coordinate of the marker in the first image may be expressed with respect to a second coordinate system that describes the image space of the first image. Thus, the processor 22 can determine the second position / coordinate based on the first image, for example, by defining a second coordinate system and performing image recognition on the first image.

[0124] In operation 1208, the navigation system 20 can determine the transformation relationship between the first coordinate system and the second coordinate system based on the first position and the second position.

[0125] In some embodiments, the transformation relationship may be a transformation matrix that maps the position / coordinate in the first coordinate system to the position / coordinate in the second coordinate system.

[0126] In some embodiments, the number of markers may be six or more. In such cases, the transformation relationship may be determined based on the first position in the first coordinate system and the second position in the second coordinate system of the six or more markers.

[0127] In some embodiments, the number of markers may be four or five. In such cases, additional information, such as internal parameters of the medical imaging system 2, may be required to determine the transformation relationship. In other words, the transformation relationship may be determined by the internal parameters of the medical imaging system 2 (for example, pre-set in the processor 22) and the first position of the four or five markers in the first coordinate system and the second position in the second coordinate system.

[0128] In some embodiments, the processor 22 can determine the transformation relationship using methods such as Direct Linear Transformation (DLT), Perspective-n-Point (PnP), and bundle adjustment.

[0129] By operations 1202-1208, all necessary coordinate systems and transformation relationships between coordinate systems are prepared, including the patient, the current surgical environment including arm 10, and the coordinate systems required to describe the current surgical environment. Based on the constructed transformation relationships, any point that can be represented in the first coordinate system can be transformed into the second coordinate system.

[0130] In operation 1210, during surgery, the navigation system 20 can determine the third position of the surgical instrument 40 in the first coordinate system using the second outputs of multiple encoders.

[0131] In some embodiments, after the first and second coordinate systems and the transformation relationships between the first and second coordinate systems necessary to describe the current surgical environment are prepared, the user can begin performing surgical procedures using instruments 40 connected to / fixed / restricted to the terminal adapter structure 12.

[0132] During surgery, the processor 22 can determine the third position / coordinate of the instrument 40 (for example, any point on the instrument 40 including the apex) in the first coordinate system based on the above method by using the encoder outputs corresponding to the arm joints 110a, 110b, 110c, 110d, and 110e.

[0133] In operation 1212, the navigation system 20 can determine the fourth position of the instrument 40 in the second coordinate system based on the third position and transformation relationship.

[0134] Specifically, the processor 22 can determine the fourth position / coordinate of the instrument 40 (e.g., any point including the vertex of the instrument 40) in the second coordinate system based on the third position / coordinate and transformation relationship of the instrument 40 (e.g., any point including the vertex of the instrument 40) in the first coordinate system.

[0135] In some embodiments, the transformation relationship may be represented as a transformation matrix, which is used for the third position / coordinate to obtain the fourth position / coordinate.

[0136] In operation 1214, the navigation system 20 may, at the fourth position, display at least a portion of the instrument 40 in the second image before ending the flow 1200.

[0137] Specifically, based on the processor 22's ability to determine the fourth position / coordinate of the instrument 40 (e.g., the entire point of the instrument 40) in a second coordinate system, the processor 22 can, by the output device 21, display in the second image a specific length of the top or tip of the instrument 40 (e.g., limited by hardware / software or according to other requirements) based on the fourth position / coordinate in the second coordinate system.

[0138] Figure 13 is a schematic diagram of an output image shown in one embodiment of the present disclosure.

[0139] Referring to Figure 13, in some embodiments, the second image 50 can display at least a portion of the instrument 40 and the patient's target area 60 (which is predicted, rather than captured in real time, by the medical imaging system 2, for example). To facilitate navigation or surgical guidance during surgery, the processor 22 may display the current position of at least a portion of the instrument 40 in real time (dynamically) in the second image 50, for example, with the target area 60 as the background.

[0140] In some embodiments, the second image 50 may include the superposition of at least a portion of the first image (for example, including the target area 60) and the device 40.

[0141] According to the above, this disclosure enables precise positioning of the surgical environment using only a single medical image by implementing encoders in the arm joints, significantly reducing the potential radiation exposure of surgeons and patients. Furthermore, the designed calibration device can also reduce the shielding of the patient's anatomical features by markers.

[0142] As is clear from the above description, the concepts described in this application can be realized by various technologies without departing from the scope of these concepts. Furthermore, although the concepts have been described with specific reference to certain embodiments, it is known to those skilled in the art that the form and details can be modified without departing from the scope of these concepts. Therefore, the embodiments described are not limiting in all respects, but rather illustrative. It should also be understood that this application is not limited to the specific embodiments described above, and that many rearrangements, modifications, and substitutions are possible without departing from the scope of this disclosure. [Explanation of Symbols]

[0143] 1. Surgical System 10 Arms 101 Base end 102 Tip 11. Multi-joint module 110a, 110b, 110c, 110d, 110e Arm joints 110f End Effector Module 1100a, 1100b base 1101a, 1101b Rotation axis 1102a, 1102b Brakes 11021a, 11041a Output shaft end 1103a, 1103b encoders 11031b Fixed holder 11032a Output shaft 1104a reducer 1105a, 1105b Magnets 1106a, 1106b nuts 1107a, 11071b, 11072b bearings 1108a Coupling 1109a Long axis 111a, 111b, 111c, 111d connection shaft 112 Adapter Interface 12 End adapter structure 120 Second structure 1200 flow 1202, 1204, 1206, 1208, 1210, 1212, 1214 operation 121 Sleeve Set 122 Restriction mechanism 123 Clamping mechanism 2 Medical Imaging Systems 20 Navigation System 21 Output device 22 processors 3 patients 30 Calibration device 31 Structural frame 32 markers, features 32a, 32b, 32c, 32d, 32e, 32f, 32g, 32h, 32i, 325, 326 markers 321a, 321b, 321c, 321d, 321e, 321f gates 322a, 322b, 323a, 323b sphere 3241a, 3242a, 3241b imaging layer 40 devices 50 Image 2 60 Target Area H1 Height P0, P 0,1 , P 1,2 , P 2,3 , P 3,4 , P' 0,1 , P' 1,2 , P' 2,3 position

Claims

1. A method used for navigating surgery performed by a surgical system including multiple arm joints, To acquire a first image including the features of the surgical system, Based on the first outputs of the plurality of encoders corresponding to the plurality of arm joints, the first position of the feature in the first coordinate system is determined, Based on the first image, the second position of the feature in the second coordinate system is determined, Based on the first position and the second position, the transformation relationship between the first coordinate system and the second coordinate system is determined, During the surgery, the third position of the surgical instrument in the first coordinate system is determined based on the second output of the plurality of encoders, Based on the third position and the transformation relationship, the fourth position of the device in the second coordinate system is determined, A method comprising displaying at least a portion of the instrument in a second image based on the fourth position.

2. The method according to claim 1, wherein the aforementioned feature includes a plurality of markers.

3. The method according to claim 2, wherein the number of the plurality of markers is four or more.

4. The method according to claim 2, wherein the surgical system further includes a calibration device having the plurality of markers, provided at the tips of the plurality of arm joints.

5. The method according to claim 4, wherein the surgical system further includes an end effector module for coupling the calibration device and the instrument.

6. The method according to claim 5, wherein when the calibration device and the instrument are coupled to the end effector module, at least a portion of the instrument is surrounded by these markers of the calibration device in the first image.

7. The method according to claim 1, wherein the second image includes the superposition of the first image and at least a portion of the device.

8. An arm including multiple arm joints and multiple encoders corresponding to these arm joints, Output device and A surgical system comprising a plurality of encoders and a processor coupled to the output device, wherein the processor To acquire a first image captured by a medical imaging system, including the features of the surgical system, Based on the first outputs of the plurality of encoders, the first position of the feature in the first coordinate system is determined, Based on the first image, the second position of the feature in the second coordinate system is determined, Based on the first position and the second position, the transformation relationship between the first coordinate system and the second coordinate system is determined, During surgery using the surgical system, the third position of the surgical instrument in the first coordinate system is determined based on the second output of the plurality of encoders. Based on the third position and the transformation relationship, the fourth position of the device in the second coordinate system is determined, A surgical system used to display at least a portion of the instrument in a second image by the output device based on the fourth position.

9. The surgical system according to claim 8, wherein the aforementioned feature includes a plurality of markers.

10. The surgical system according to claim 9, wherein the number of the plurality of markers is four or more.

11. The surgical system according to claim 10, further comprising a calibration device provided at the tip of the plurality of arm joints and including the plurality of markers.

12. The surgical system according to claim 11, wherein the arm further includes an end effector module for coupling the calibration device and the instrument.

13. The surgical system according to claim 12, wherein when the calibration device and the instrument are coupled to the end effector module, at least a portion of the instrument is surrounded by the plurality of markers of the calibration device in the first image.

14. The surgical system according to claim 8, wherein the second image includes the superposition of the first image and at least a portion of the instrument.

15. A navigation system used for navigating a surgery performed by a surgical system including multiple arm joints and multiple encoders corresponding to these arm joints, Output device and The output device and the processor coupled to the plurality of encoders, the processor To acquire a first image captured by a medical imaging system, including the features of the surgical system, Based on the first outputs of the plurality of encoders, the first position of the feature in the first coordinate system is determined, Based on the first image, the second position of the feature in the second coordinate system is determined, Based on the first position and the second position, the transformation relationship between the first coordinate system and the second coordinate system is determined, During surgery using the surgical system, the third position of the surgical instrument in the first coordinate system is determined based on the second output of the plurality of encoders. Based on the third position and the transformation relationship, the fourth position of the device in the second coordinate system is determined, A navigation system used to display at least a portion of the instrument in a second image by the output device based on the fourth position.

16. The navigation system according to claim 15, wherein the aforementioned feature includes a plurality of markers.

17. The navigation system according to claim 16, wherein the number of the plurality of markers is four or more.

18. The navigation system according to claim 15, wherein the second image includes the superposition of the first image and at least a portion of the device.

19. A non-temporary computer-readable medium that stores at least one command, wherein when the at least one command is executed by the processor of the electronic device, the electronic device performs the method according to claim 1.

Images