Surgical cart positioning method, apparatus and system, and storage medium

Abstract

The present application discloses a surgical cart positioning method, apparatus and system, and a storage medium. The method comprises: acquiring a first field-of-view image acquired by an image acquisition apparatus and in which a first surgical cart corresponds to a registration apparatus, and on the basis of the first field-of-view image, determining a first relative pose of the first surgical cart relative to the registration apparatus (S210); acquiring a second field-of-view image acquired by the image acquisition apparatus and in which a second surgical cart corresponds to the registration apparatus, and on the basis of the second field-of-view image, determining a second relative pose of the registration apparatus relative to the second surgical cart (S220); and on the basis of the first relative pose and the second relative pose, determining a relative positioning pose of the first surgical cart relative to the second surgical cart (S230).

Description

Positioning method, device, system and storage medium for operating table

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on August 10, 2023, with application number 202311006826.4, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of medical device technology, for example, to a positioning method, device, system and storage medium for an operating table vehicle. Background Art

[0003] With the advancement of medical technology, minimally invasive surgery has become increasingly common. To ensure the feasibility and safety of minimally invasive surgery, surgical robotic systems are increasingly being used in these procedures. In particular, split multi-column surgical robotic systems require multiple operating tables positioned around the operating table, necessitating precise positioning of the relative positions of the two operating tables.

[0004] Positioning equipment has high requirements for the environment and installation. The positioning method in related technologies usually sets a signal transmitter and a signal receiver separately on the operating table. However, interference information is easily generated between multiple sensor devices, resulting in inaccurate positioning of the operating table. Moreover, the positioning method in related technologies cannot adapt to various operating room scenarios.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide a positioning method, device, system and storage medium for an operating table vehicle to avoid data interference among multiple sensor devices in the positioning methods in the related art and improve the positioning accuracy of the operating table vehicle.

[0007] One embodiment of the present application provides a method for positioning an operating table vehicle, the method comprising:

[0008] Acquire a first field of view image corresponding to the first operating trolley and the registration device acquired by an image acquisition device, and determine a first relative position of the first operating trolley with respect to the registration device based on the first field of view image;

[0009] Acquire a second field of view image corresponding to the second operating trolley and the registration device acquired by the image acquisition device, and determine a second relative position of the registration device relative to the second operating trolley based on the second field of view image;

[0010] Based on the first relative posture and the second relative posture, a relative positioning posture of the first operating trolley relative to the second operating trolley is determined.

[0011] Another embodiment of the present application provides a positioning device for an operating table vehicle, the device comprising:

[0012] a first relative posture determination module, configured to obtain a first field of view image corresponding to the first operating trolley and the registration device acquired by the image acquisition device, and determine a first relative posture of the first operating trolley with respect to the registration device based on the first field of view image;

[0013] a second relative posture determination module, configured to obtain a second field of view image corresponding to the second operating trolley and the registration device acquired by the image acquisition device, and determine a second relative posture of the registration device relative to the second operating trolley based on the second field of view image;

[0014] The relative positioning posture determination module is configured to determine the relative positioning posture of the first operating trolley relative to the second operating trolley based on the first relative posture and the second relative posture.

[0015] Another embodiment of the present application provides a positioning system for an operating trolley, the positioning system for the operating trolley comprising: a first operating trolley, a second operating trolley, an image acquisition device, a registration device, and a control device;

[0016] Wherein, the image acquisition device is configured to acquire a first field of view image corresponding to the first operating trolley and the registration device, and to acquire a second field of view image corresponding to the second operating trolley and the registration device;

[0017] The control device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the positioning method of the operating table vehicle described in any embodiment of the present application.

[0018] Another embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the positioning method of the operating table vehicle described in any embodiment of the present application when executed. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] FIG1 is a schematic structural diagram of a positioning system for an operating table provided in one embodiment of the present application;

[0020] FIG2 is a schematic structural diagram of another positioning system for an operating table provided in one embodiment of the present application;

[0021] FIG3 is a schematic structural diagram of another positioning system for an operating table provided in one embodiment of the present application;

[0022] FIG4 is a schematic structural diagram of another positioning system of an operating trolley provided in one embodiment of the present application;

[0023] FIG5 is a schematic structural diagram of a control device provided by one embodiment of the present application;

[0024] FIG6 is a flow chart of a positioning method for an operating table vehicle provided in one embodiment of the present application;

[0025] FIG7 is a flow chart of another positioning method for an operating table provided in one embodiment of the present application;

[0026] FIG8 is a flow chart of another positioning method for an operating table provided in one embodiment of the present application;

[0027] FIG9 is a schematic structural diagram of a positioning device for an operating trolley provided in one embodiment of the present application. DETAILED DESCRIPTION

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] Figure 1 is a structural schematic diagram of a positioning system for an operating trolley provided in one embodiment of the present application. As shown in Figures 1 and 5, the positioning system 100 of the operating trolley includes: a first operating trolley 11, a second operating trolley 12, an image acquisition device 13, a registration device 14 and a control device 15.

[0030] Exemplarily, the image acquisition device 13 is communicatively connected to the control device 15, and the control device 15 can be configured with a positioning device for the operating table provided in the following embodiments of the present application to provide services for the positioning method for the operating table provided in the following embodiments of the present application.

[0031] In the embodiment shown in FIG1 , the registration apparatus 14 includes a registration device, and the image acquisition apparatus 13 includes an image acquisition device 131 and an image acquisition device 132. Image acquisition device 131 is mounted on the first operating trolley 11, and image acquisition device 132 is mounted on the second operating trolley 12. In this embodiment, the registration apparatus 14 is used to refer to the registration device.

[0032] Exemplarily, the first field of view image captured by the image capture device 131 and the second field of view image captured by the image capture device 132 respectively include the registration device 14 .

[0033] Based on the embodiment shown in FIG. 1 , illustratively, the registration device 14 is provided with at least one identification picture, or the registration device 14 has a display function of at least one identification picture.

[0034] For example, the image content of the identification image may be a grid, a checkerboard, a barcode, or a QR code. When the image content is a barcode or a QR code, the control device 15 may also be configured to perform a decoding operation on the identification image in the field of view image to obtain attribute data of the registration device 14, such as the real-time registration pose of the registration device 14.

[0035] Compared with the alignment based on the alignment device 14 in the field of view image, the embodiment of the present application sets an identification picture, and the alignment based on the identification picture in the field of view image can improve the accuracy of the relative positioning posture between the subsequent first operating trolley 11 and the second operating trolley 12.

[0036] Exemplarily, when the registration device 14 has a function of displaying at least one identification image, the registration device 14 may be a mobile smart phone or a display screen.

[0037] In one embodiment, when the number of the identification picture is one, the first field of view image captured by the image acquisition device 131 and the second field of view image captured by the image acquisition device 132 respectively include the identification picture.

[0038] In another embodiment, when there are at least two identification images, the multiple identification images are arranged in different directions (or displayed in different directions) on the registration device 14. The identification images contained in the first field of view image captured by the image acquisition device 131 and the second field of view image captured by the image acquisition device 132 may be the same or different.

[0039] When the identification images included in the first field of view image and the second field of view image are different, for example, identification image A is set (or displayed) on the left side of the registration device 14, and identification image B is set (or displayed) on the right side of the registration device 14, or identification image A is set (or displayed) on the front side of the registration device 14, and identification image B is set (or displayed) on the right side of the registration device 14. The specific setting direction (or display direction) of the multiple identification images can be adjusted according to the direction range of the first operating trolley 11 and the second operating trolley 12 relative to the registration device 14.

[0040] By setting (or displaying) multiple identification pictures, when the first operating trolley 11 and the second operating trolley 12 are located in different directions of the alignment device 14, it can be ensured that the image acquisition device 131 and the image acquisition device 132 can both capture the field of view image containing the identification picture, thereby broadening the applicable scenarios of the embodiments of the present application.

[0041] FIG2 is a schematic structural diagram of another positioning system of an operating trolley provided in one embodiment of the present application. FIG2 takes the alignment device 14 as an example of a display screen.

[0042] Based on the above embodiment, illustratively, when the number of the identification images is one, the registration device 14 is equipped with a posture acquisition module 16, which is configured to acquire the real-time registration posture of the registration device 14. Exemplarily, the posture acquisition module 16 may be an inertial measurement unit (IMU).

[0043] When the first operating trolley 11 and the second operating trolley 12 are located in different directions of the alignment device 14, by changing the posture of the alignment device 14, while ensuring that the image acquisition device 131 and the image acquisition device 132 can both capture the field of view image containing the identification picture, thereby broadening the applicable scenarios of the embodiments of the present application, the relative positioning posture of the first operating trolley relative to the second operating trolley can be determined based on the real-time alignment posture, the first field of view image and the second field of view image captured by the posture acquisition module 142.

[0044] Figure 3 is a structural schematic diagram of another positioning system of an operating trolley provided by an embodiment of the present application. In the embodiment shown in Figure 3, the alignment device 14 includes a alignment device, the number of image acquisition devices in the image acquisition device 13 is one, and the image acquisition device 13 is installed on the alignment device 14. An identification picture 17 is respectively provided on the first operating trolley 11 and the second operating trolley 12. The first field of view image is a field of view image including the identification picture 17 on the first operating trolley 11, and the second field of view image is a field of view image including the identification picture 17 on the second operating trolley 12.

[0045] Figure 4 is a structural schematic diagram of another positioning system of an operating trolley provided by an embodiment of the present application. In the embodiment shown in Figure 4, the alignment device 14 includes an alignment device 141 and an alignment device 142 with different alignment postures, and the image acquisition device 13 includes an image acquisition device 131 and an image acquisition device 132. The image acquisition device 131 is installed on the alignment device 141, and the image acquisition device 132 is installed on the alignment device 142. An identification picture 17 is respectively provided on the first operating trolley 11 and the second operating trolley 12.

[0046] Exemplarily, the registration device 14 includes a registration device 141 and a registration device 142 with different registration postures, the image acquisition device 13 includes an image acquisition device 131 and an image acquisition device 132, and an identification picture 17 can be set (or displayed) on the registration device 141 and the registration device 142 respectively. The image acquisition device 131 is installed on the first operating trolley 11, and the image acquisition device 132 is installed on the second operating trolley 12.

[0047] It should be noted that the above embodiment is only illustrated by two operating trolleys. When the number of operating trolleys is more than two, the number of image acquisition devices in the image acquisition device 13 is set corresponding to the number of operating trolleys, and / or the number of identification images is set corresponding to the number of operating trolleys, and / or the number of registration devices in the registration device 14 is set corresponding to the number of operating trolleys.

[0048] FIG5 is a block diagram of a control device provided by one embodiment of the present application. The control device 15 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or required herein.

[0049] As shown in FIG5 , the control device 15 includes at least one processor 151 and a memory, such as a read-only memory (ROM) 152 and a random access memory (RAM) 153, that is communicatively connected to the at least one processor 151. The memory stores a computer program that can be executed by the at least one processor 151. The computer program is executed by the at least one processor 151 so that the at least one processor 151 can perform the positioning method of the surgical trolley provided in the above embodiment. The processor 151 can perform various appropriate actions and processes based on the computer program stored in the read-only memory (ROM) 152 or the computer program loaded from the storage unit 158 ​​into the random access memory (RAM) 153. The RAM 153 can also store various programs and data required for the operation of the control device 15. The processor 151, ROM 152, and RAM 153 are connected to each other via a bus 154. The input / output (I / O) interface 15 is also connected to the bus 154.

[0050] Various components in the control device 15 are connected to the I / O interface 155, including an input unit 156, such as a keyboard, a mouse, etc.; an output unit 157, such as various types of displays, speakers, etc.; a storage unit 158, such as a magnetic disk, an optical disk, etc.; and a communication unit 159, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 159 allows the control device 15 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0051] The processor 151 can be a variety of general-purpose and / or specialized processing components with processing and computing capabilities. Some examples of the processor 151 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 151 executes the various methods and processes described above, such as the positioning method of the surgical trolley provided in the above embodiments.

[0052] In some embodiments, the positioning method of the surgical trolley provided in the above embodiments can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 158. In some embodiments, part or all of the computer program can be loaded and / or installed on the control device 15 via the ROM 152 and / or the communication unit 159. When the computer program is loaded into the RAM 153 and executed by the processor 151, one or more steps in the positioning method of the surgical trolley described above can be performed. For example, in other embodiments, the processor 151 can be configured to execute the positioning method of the surgical trolley by any other appropriate means (e.g., by means of firmware).

[0053] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0054] The computer programs for implementing the positioning method of the surgical trolley of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer programs are executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer programs can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0055] FIG6 is a flow chart of a method for positioning an operating trolley according to an embodiment of the present application. This embodiment is applicable to the situation where the relative posture relationship between multiple operating trolleys is positioned. The method can be performed by a positioning device of the operating trolley, which can be implemented in the form of hardware and / or software and can be configured in a control device. As shown in FIG6 , the method includes:

[0056] S210: Acquire a first field of view image corresponding to the first operating trolley and the registration device acquired by the image acquisition device, and determine a first relative position of the first operating trolley with respect to the registration device based on the first field of view image.

[0057] In this embodiment, the registration apparatus includes a registration device.

[0058] Exemplarily, acquiring a first field of view image corresponding to the first operating trolley and the registration device acquired by an image acquisition device includes: acquiring a first field of view image including the registration device acquired by an image acquisition device installed on the first operating trolley.

[0059] Exemplarily, obtaining a first field of view image corresponding to the first operating trolley and the registration device captured by an image acquisition device includes: obtaining a first field of view image containing an identification picture captured by an image acquisition device installed on the first operating trolley; wherein the identification picture is set on the registration device.

[0060] Exemplarily, obtaining a first field of view image corresponding to the first operating trolley and the registration device captured by the image acquisition device includes: obtaining a first field of view image containing an identification picture captured by an image acquisition device installed on the registration device; wherein the identification picture is set on the first operating trolley.

[0061] Exemplarily, based on the first field of view image, determining the first relative position of the first operating trolley relative to the registration device includes: obtaining object pixel data of the target object in the first field of view image; using an Efficient Perspective-n-Point Camera Pose Estimation (EPnP) algorithm to determine the first relative position of the first operating trolley relative to the registration device based on the object pixel data, the camera intrinsic parameter matrix and the distortion matrix of the image acquisition device; wherein the target object is the registration device or an identification image set on the registration device.

[0062] Exemplarily, the camera intrinsic parameter matrix and the distortion matrix are the camera intrinsic parameter matrix and the distortion matrix of an image acquisition device that acquires the first field of view image in the image acquisition apparatus.

[0063] Exemplarily, based on the first field of view image, determining the first relative position of the first operating trolley relative to the registration device includes: acquiring object pixel data of the target object in the first field of view image; determining the homography transformation matrix based on the calibration pixel data and the object pixel data, and determining the first relative position of the first operating trolley relative to the registration device based on the homography transformation matrix.

[0064] Exemplarily, the calibration pixel data is used to represent camera calibration data corresponding to an image acquisition device that acquires the first field of view image in the image acquisition apparatus.

[0065] S220: Acquire a second field of view image corresponding to the second operating trolley and the registration device acquired by the image acquisition device, and determine a second relative position of the registration device relative to the second operating trolley based on the second field of view image.

[0066] Exemplarily, acquiring a second field of view image corresponding to the second operating trolley and the registration device acquired by an image acquisition device includes: acquiring a second field of view image including the registration device acquired by an image acquisition device installed on the second operating trolley.

[0067] Exemplarily, obtaining a second field of view image corresponding to the second operating trolley and the registration device captured by the image acquisition device includes: obtaining a second field of view image containing an identification picture captured by an image acquisition device installed on the second operating trolley; wherein the identification picture is set on the registration device.

[0068] Exemplarily, obtaining a second field of view image corresponding to the second operating trolley and the registration device captured by the image acquisition device includes: obtaining a second field of view image containing an identification picture captured by an image acquisition device installed on the registration device; wherein the identification picture is set on the second operating trolley.

[0069] Exemplarily, based on the second field of view image, determining the second relative position of the registration device relative to the second operating trolley includes: obtaining object pixel data of the target object in the second field of view image; using an Efficient Perspective-n-Point Camera Pose Estimation (EPnP) algorithm to determine the second relative position of the registration device relative to the second operating trolley based on the object pixel data, the camera intrinsic parameter matrix and the distortion matrix of the image acquisition device; wherein the target object is the registration device or an identification image set on the registration device.

[0070] Exemplarily, the camera intrinsic parameter matrix and the distortion matrix are the camera intrinsic parameter matrix and the distortion matrix of an image acquisition device that acquires the second field of view image in the image acquisition apparatus.

[0071] Exemplarily, based on the second field of view image, determining the second relative position of the registration device relative to the second operating trolley includes: acquiring object pixel data of the target object in the second field of view image; determining the homography transformation matrix based on the calibration pixel data and the object pixel data, and determining the second relative position of the registration device relative to the second operating trolley based on the homography transformation matrix.

[0072] Exemplarily, the calibration pixel data is used to represent camera calibration data corresponding to an image acquisition device that acquires the second field of view image in the image acquisition apparatus.

[0073] S230: Determine the relative positioning posture of the first operating trolley relative to the second operating trolley based on the first relative posture and the second relative posture.

[0074] In this embodiment, illustratively, the first relative posture and the second relative posture are added together to obtain the relative positioning posture of the first operating trolley relative to the second operating trolley.

[0075] The technical solution of this embodiment obtains a first field of view image corresponding to the first operating trolley and the registration device captured by an image acquisition device, and determines a first relative posture of the first operating trolley with respect to the registration device based on the first field of view image, obtains a second field of view image corresponding to the second operating trolley and the registration device captured by the image acquisition device, and determines a second relative posture of the registration device with respect to the second operating trolley based on the second field of view image, and determines the relative positioning posture of the first operating trolley with respect to the second operating trolley based on the first relative posture and the second relative posture, thereby avoiding the situation in which data interference exists among multiple sensor devices in the positioning method in the related art, thereby reducing the positioning complexity and improving the positioning accuracy of the operating trolley.

[0076] FIG7 is a flow chart of another method for positioning an operating table vehicle provided in one embodiment of the present application. This embodiment further refines S230 in the above embodiment. As shown in FIG7 , the method includes:

[0077] S310: Acquire a first field of view image corresponding to the first operating trolley and the registration device acquired by the image acquisition device, and determine a first relative position of the first operating trolley with respect to the registration device based on the first field of view image.

[0078] S320: Acquire a second field of view image corresponding to the second operating trolley and the registration device acquired by the image acquisition device, and determine a second relative position of the registration device relative to the second operating trolley based on the second field of view image.

[0079] S310 - S320 in this embodiment are the same as or similar to S210 - S220 shown in FIG. 6 in the above embodiment, and are not described in detail in this embodiment.

[0080] S330 , acquiring a first registration pose corresponding to the first field of view image and a second registration pose corresponding to the second field of view image acquired by the pose acquisition module.

[0081] In this embodiment, the real-time registration posture of a registration device in the registration apparatus may change.

[0082] Exemplarily, the posture acquisition module is configured to acquire the real-time registration posture of the registration device, the first registration posture representing the real-time registration posture of the registration device corresponding to the acquisition moment of the first field of view image, and the second registration posture representing the real-time registration posture of the registration device corresponding to the acquisition moment of the second field of view image.

[0083] S340: Determine a registration relative posture based on the first registration posture and the second registration posture.

[0084] Exemplarily, determining the registration relative pose based on the first registration pose and the second registration pose includes: obtaining a change time interval, a motion angular velocity, and a motion acceleration corresponding to the first registration pose and the second registration pose; integrating the motion angular velocity based on the change time interval to obtain an angular change in the registration relative pose; and performing a double integration of the motion acceleration based on the change time interval to obtain a displacement change in the registration relative pose. The registration relative pose can be described by the angular change and the displacement change.

[0085] Exemplarily, the changing time interval is used to represent the time interval between the acquisition moment of the first field of view image and the acquisition moment of the second field of view image.

[0086] On the basis of the above embodiment, illustratively, it is determined whether the first registration posture and the second registration posture are the same. If they are the same, the registration relative posture is set to empty. If they are different, the step of determining the registration relative posture based on the first registration posture and the second registration posture is executed.

[0087] S350: Determine the relative positioning posture between the first operating trolley and the second operating trolley based on the first relative posture, the second relative posture, and the registered relative posture.

[0088] In this embodiment, illustratively, the first relative posture, the second relative posture, and the registered relative posture are added together to obtain the relative positioning posture of the first operating trolley relative to the second operating trolley.

[0089] The technical solution of this embodiment is to install a posture acquisition module in the registration device, determine the registration relative posture based on the first registration posture corresponding to the first field of view image and the second registration posture corresponding to the second field of view image acquired by the posture acquisition module, and determine the relative positioning posture between the first operating trolley and the second operating trolley based on the first relative posture, the second relative posture and the registration relative posture, thereby avoiding the situation where some image acquisition devices are unable to obtain the field of view image containing the target object due to the limitation of the acquisition field of view of the image acquisition device, improving the flexibility of the positioning method of the operating trolley, and thus broadening the applicable scenarios of the embodiments of the present application.

[0090] FIG8 is a flow chart of another positioning method for an operating table vehicle provided in one embodiment of the present application. As shown in FIG8 , the method includes:

[0091] S410: Acquire a first field of view image corresponding to the first operating trolley and the registration device acquired by the image acquisition device, and determine a first relative position of the first operating trolley with respect to the registration device based on the first field of view image.

[0092] In this embodiment, the registration apparatus includes two registration devices with different registration postures.

[0093] Exemplarily, obtaining a first field of view image corresponding to the first operating trolley and the registration device captured by an image acquisition device includes: obtaining a first field of view image of the registration device including a first registration posture captured by an image acquisition device installed on the first operating trolley.

[0094] Exemplarily, obtaining a first field of view image corresponding to the first operating trolley and the registration device captured by the image acquisition device includes: obtaining a first field of view image containing an identification picture captured by the image acquisition device installed on the first operating trolley; wherein the identification picture is set on the registration device in the first registration posture.

[0095] Exemplarily, obtaining a first field of view image corresponding to the first operating trolley and the registration device captured by an image acquisition device includes: obtaining a first field of view image containing an identification picture captured by an image acquisition device on a registration device installed in a first registration position; wherein the identification picture is set on the first operating trolley.

[0096] The execution logic of "determining the first relative position of the first operating trolley with respect to the alignment device based on the first field of view image" in this embodiment is the same as or similar to the execution logic of "determining the first relative position of the first operating trolley with respect to the alignment device based on the first field of view image" in the above embodiment, and will not be repeated in this embodiment.

[0097] S420: Acquire a second field of view image corresponding to the second operating trolley and the registration device acquired by the image acquisition device, and determine a second relative position of the registration device relative to the second operating trolley based on the second field of view image.

[0098] Exemplarily, obtaining a second field of view image corresponding to the second operating trolley and the registration device captured by the image acquisition device includes: obtaining a second field of view image of the registration device including a second registration posture captured by the image acquisition device installed on the second operating trolley.

[0099] Exemplarily, obtaining a second field of view image corresponding to the second operating trolley and the registration device captured by the image acquisition device includes: obtaining a second field of view image containing an identification picture captured by an image acquisition device installed on the second operating trolley; wherein the identification picture is set on the registration device in the second registration posture.

[0100] Exemplarily, obtaining a second field of view image corresponding to the second operating trolley and the registration device captured by the image acquisition device includes: obtaining a second field of view image containing an identification picture captured by the image acquisition device on the registration device installed in the second registration posture; wherein the identification picture is set on the second operating trolley.

[0101] The execution logic of "determining the second relative position of the second operating trolley with respect to the alignment device based on the second field of view image" in this embodiment is the same as or similar to the execution logic of "determining the second relative position of the second operating trolley with respect to the alignment device based on the second field of view image" in the above embodiment, and will not be repeated in this embodiment.

[0102] S430: Obtain the registration relative postures of the registration postures corresponding to the two registration devices in the registration apparatus.

[0103] In this embodiment, the registration postures corresponding to the two registration devices are fixed during the positioning process of the operating trolley, and the registration relative postures can be preset before the positioning method of the operating trolley is executed.

[0104] S440: Determine the positioning relative posture of the first operating trolley relative to the second operating trolley based on the first relative posture, the second relative posture, and the registered relative posture.

[0105] In this embodiment, illustratively, the first relative posture, the second relative posture, and the registered relative posture are added together to obtain the relative positioning posture of the first operating trolley relative to the second operating trolley.

[0106] The technical solution of this embodiment is to set up two registration devices with different registration postures, obtain the registration relative posture of the registration postures corresponding to the two registration devices in the registration device, and determine the relative positioning posture between the first operating trolley and the second operating trolley based on the first relative posture, the second relative posture and the registration relative posture, thereby avoiding the situation where some image acquisition devices are unable to acquire the field of view image containing the target object due to the limitation of the acquisition field of view of the image acquisition device, thereby broadening the applicable scenarios of the embodiments of the present application.

[0107] The following is an embodiment of the positioning device of the operating trolley provided in the embodiments of the present application. This device and the positioning method of the operating trolley in the above-mentioned embodiments belong to the same application concept. For details not fully described in the embodiment of the positioning device of the operating trolley, please refer to the content of the positioning method of the operating trolley in the above-mentioned embodiment.

[0108] FIG9 is a schematic diagram of the structure of a positioning device for an operating table provided in one embodiment of the present application. As shown in FIG9 , the device includes: a first relative posture determination module 510 , a second relative posture determination module 520 , and a relative positioning posture determination module 530 .

[0109] The first relative position determination module 510 is configured to obtain a first field of view image corresponding to the first operating trolley and the registration device acquired by the image acquisition device, and determine a first relative position of the first operating trolley with respect to the registration device based on the first field of view image;

[0110] A second relative posture determination module 520 is configured to obtain a second field of view image corresponding to the second operating trolley and the registration device acquired by the image acquisition device, and determine a second relative posture of the registration device relative to the second operating trolley based on the second field of view image;

[0111] The relative positioning posture determining module 530 is configured to determine the relative positioning posture of the first operating trolley relative to the second operating trolley based on the first relative posture and the second relative posture.

[0112] The technical solution of this embodiment obtains a first field of view image corresponding to the first operating trolley and the registration device captured by an image acquisition device, and determines a first relative posture of the first operating trolley with respect to the registration device based on the first field of view image, obtains a second field of view image corresponding to the second operating trolley and the registration device captured by the image acquisition device, and determines a second relative posture of the registration device with respect to the second operating trolley based on the second field of view image, and determines the relative positioning posture of the first operating trolley with respect to the second operating trolley based on the first relative posture and the second relative posture, thereby avoiding the situation in which data interference exists among multiple sensor devices in the positioning method in the related art, thereby reducing the positioning complexity and improving the positioning accuracy of the operating trolley.

[0113] Exemplarily, the first relative posture determination module 510 is configured as follows:

[0114] Acquire object pixel data of a target object in the first field of view image;

[0115] A perspective n-point camera pose estimation algorithm is used to determine a first relative pose of the first operating table relative to the registration device based on object pixel data, a camera intrinsic parameter matrix of the image acquisition device, and a distortion matrix; wherein the target object is the registration device or an identification image set on the registration device.

[0116] Exemplarily, the registration device is equipped with a posture acquisition module. Accordingly, the relative positioning posture determination module 530 includes:

[0117] A first registration posture determination unit is configured to obtain a first registration posture corresponding to the first field of view image and a second registration posture corresponding to the second field of view image acquired by the posture acquisition module;

[0118] a registration relative pose determining unit configured to determine the registration relative pose based on the first registration pose and the second registration pose;

[0119] The first relative positioning posture determining unit is configured to determine the relative positioning posture between the first operating trolley and the second operating trolley based on the first relative posture, the second relative posture and the registered relative posture.

[0120] Exemplarily, the first relative positioning posture determination unit is configured as:

[0121] Obtaining the change time interval, motion angular velocity, and motion acceleration corresponding to the first registration posture and the second registration posture;

[0122] The angular velocity of the movement is integrated based on the changing time interval to obtain the angular change in the relative posture of the registration;

[0123] The motion acceleration is double-integrated based on the changing time interval to obtain the displacement change in the registered relative posture.

[0124] Exemplarily, the registration apparatus includes two registration devices with different registration postures, and the relative positioning posture determination module 530 includes:

[0125] A second relative posture determination unit is configured to obtain the registration relative postures of the registration postures corresponding to the two registration devices in the registration apparatus;

[0126] Based on the first relative posture, the second relative posture and the registered relative posture, a positioning relative posture of the first operating trolley relative to the second operating trolley is determined.

[0127] The positioning device of the operating trolley provided in the embodiment of the present application can execute the positioning method of the operating trolley provided in any embodiment of the present application, and has the corresponding functional modules and beneficial effects of the execution method.

[0128] Another embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the positioning method of the operating table vehicle described in any embodiment of the present application when executed.

[0129] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. A computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. For example, a computer-readable storage medium can be a machine-readable signal medium. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. A computer-readable storage medium can be a non-transient computer-readable storage medium.

[0130] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0131] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0132] A computing system may include a client and a server. The client and server are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host, a host product within a cloud computing service ecosystem that avoids the management difficulties and limited scalability inherent in physical hosting and VPS services in related technologies.

[0133] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the multiple steps described in this application can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of this application can be achieved. This is not limited herein.

Claims

1. A method for positioning an operating table vehicle, comprising: Acquire a first field of view image corresponding to the first operating trolley and the registration device acquired by an image acquisition device, and determine a first relative position of the first operating trolley with respect to the registration device based on the first field of view image; Acquire a second field of view image corresponding to the second operating trolley and the registration device acquired by the image acquisition device, and determine a second relative position of the registration device relative to the second operating trolley based on the second field of view image; Based on the first relative position and the second relative position, a relative positioning position of the first operating trolley relative to the second operating trolley is determined.

2. The method according to claim 1, wherein: The determining, based on the first field of view image, a first relative position of the first operating table vehicle relative to the registration device comprises: Acquire object pixel data of a target object in the first field of view image; A perspective n-point camera posture estimation algorithm is adopted to determine a first relative posture of the first operating trolley relative to the registration device based on the object pixel data, the camera intrinsic parameter matrix and the distortion matrix of the image acquisition device; wherein the target object is the registration device or an identification picture set on the registration device.

3. The method according to claim 1, wherein: The registration device is provided with a posture acquisition module, and the relative positioning posture of the first operating trolley relative to the second operating trolley is determined based on the first relative posture and the second relative posture, including: Acquire a first registration posture corresponding to the first field of view image and a second registration posture corresponding to the second field of view image acquired by the posture acquisition module; Determining a registration relative pose based on the first registration pose and the second registration pose; Based on the first relative posture, the second relative posture and the registered relative posture, a relative positioning posture between the first operating trolley and the second operating trolley is determined.

4. The method according to claim 3, wherein: The determining of the registration relative posture based on the first registration posture and the second registration posture comprises: Acquire the change time interval, motion angular velocity and motion acceleration corresponding to the first registration posture and the second registration posture; Performing an integration process on the motion angular velocity based on the change time interval to obtain an angle change in the registration relative posture; The motion acceleration is subjected to double integration processing based on the change time interval to obtain the displacement change in the registered relative posture.

5. The method according to claim 1, wherein: The registration device includes two registration devices with different registration postures, and the relative positioning posture of the first operating trolley relative to the second operating trolley is determined based on the first relative posture and the second relative posture, including: Acquire the registration relative postures of the registration postures respectively corresponding to the two registration devices in the registration device; Based on the first relative posture, the second relative posture and the registered relative posture, a positioning relative posture of the first operating trolley relative to the second operating trolley is determined.

6. A positioning device for an operating table vehicle, comprising: A first relative posture determination module is configured to obtain a first field of view image corresponding to the first operating trolley and the registration device acquired by the image acquisition device, and determine a first relative posture of the first operating trolley relative to the registration device based on the first field of view image; A second relative posture determination module is configured to obtain a second field of view image corresponding to the second operating trolley and the registration device acquired by the image acquisition device, and determine a second relative posture of the registration device relative to the second operating trolley based on the second field of view image; The relative positioning posture determination module is configured to determine the relative positioning posture of the first operating trolley relative to the second operating trolley based on the first relative posture and the second relative posture.

7. A positioning system for an operating table, comprising: A first operating table trolley, a second operating table trolley, an image acquisition device, a registration device and a control device; Wherein, the image acquisition device is configured to acquire a first field of view image corresponding to the first operating trolley and the registration device, and to acquire a second field of view image corresponding to the second operating trolley and the registration device; The control device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the positioning method of the operating table vehicle described in any one of claims 1-5.

8. The positioning system of the operating table trolley according to claim 7, wherein: The registration device includes a registration device, and at least one identification picture is arranged in the registration device, or the registration device has the function of displaying at least one identification picture; the image acquisition device includes two image acquisition devices, and the two image acquisition devices are respectively installed on the first operating trolley and the second operating trolley, and the first field of view image and the second field of view image respectively include the identification picture.

9. The positioning system of the operating table trolley according to claim 7, wherein: The registration device includes a registration device, the number of image acquisition devices in the image acquisition device is one, the image acquisition device is installed in the registration device, an identification picture is respectively provided on the first operating trolley and the second operating trolley, the first field of view image is a field of view image including the identification picture on the first operating trolley, and the second field of view image is a field of view image including the identification picture on the second operating trolley.

10. The positioning system of the operating table trolley according to claim 7, wherein: The registration device comprises two registration devices with different registration postures, and the number of image acquisition devices in the image acquisition device is two; an image acquisition device or an identification picture is respectively arranged on the first operating trolley and the second operating trolley.

11. A computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a processor to implement the positioning method of a surgical trolley according to any one of claims 1 to 5 when executed.

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