Method and apparatus for medical device navigation, actuator, device, and medium

Abstract

The present invention provides a method and apparatus for medical device navigation, an actuator, a device, and a medium. The method comprises: acquiring a first medical image containing a navigation target; determining, on the basis of the first medical image, the range of the navigation target, performing first path planning, and generating a first path based on an image coordinate system; positioning the actuator before the surgical operation, such that the medical device covers the first path when located in the current effective working space and when rotating within a preset angle range; acquiring a second medical image containing the navigation target and the medical device; performing second path planning on the basis of the second medical image, and generating a second path based on the image coordinate system; associating a robot coordinate system with the image coordinate system, and converting the second path into a third path based on the robot coordinate system, so as to locate the current coordinates of the medical device in the robot coordinate system; and controlling the movement of the medical device according to the current coordinates. The method can be used for improving the navigation precision.

Description

Navigation methods, devices, actuators, equipment and media for medical devices

[0001] Cross-references

[0002] This application claims priority to Chinese patent application No. 2024102028518, filed on February 23, 2024. The contents of the above application are incorporated herein by reference. Technical Field

[0003] The present invention relates to the field of medical device navigation, and in particular to a navigation method, device, actuator, equipment and medium for medical devices. Background Art

[0004] Currently, in procedures such as chest and abdominal puncture biopsy or ablation therapy, the traditional method is to locate the lesion through imaging equipment such as computed tomography (CT). Based on the location of the lesion in the image, the doctor manually adjusts the position and angle, and then performs the puncture. The puncture process may also require multiple CT scans for confirmation and adjustment. Manual adjustments will have certain deviations, and multiple CT scans are required to confirm the deviations, resulting in a long operation time and not conducive to improving surgical efficiency. Multiple CT scans mean that the subject's X-ray exposure dose increases, which increases the risk of cancer and is not conducive to the subject's health. Therefore, there is an urgent need for a new type of medical device navigation method, device, actuator, equipment and medium to improve the above problems.

[0005] Summary of the Invention

[0006] The object of the present invention is to provide a navigation method, device, actuator, equipment and medium for a medical device, which is used to improve navigation accuracy.

[0007] In a first aspect, the present invention provides a navigation method for a medical device, comprising: S1, acquiring a first medical image containing a navigation target; S2, determining the range of the navigation target based on the first medical image, performing a first path planning, and generating a first path based on an image coordinate system; S3, positioning the actuator before the surgical operation so that the medical device covers the first path in the current effective working space and when it rotates within a preset angle range; S4, acquiring a second medical image containing the navigation target and the medical device; S5, performing a second path planning based on the second medical image, and generating a second path based on the image coordinate system; S6, associating a robot coordinate system and the image coordinate system, and transforming the second path into a third path based on the robot coordinate system to locate the current coordinates of the medical device in the robot coordinate system; S7, controlling the movement process of the medical device according to the current coordinates.

[0008] The method of the present invention has the following beneficial effects: the present application determines the range of the navigation target based on the first medical image, performs a first path planning, and generates a first path based on the image coordinate system, which facilitates the determination of the skin entry point. A second path planning is performed based on the second medical image, and a second path based on the image coordinate system is generated, which facilitates the inclusion of the lesion target and the actuator registration point in the same image coordinate system, thereby improving navigation accuracy, eliminating the need for multiple CT scans, saving surgical time, and improving the patient's health.

[0009] Optionally, when acquiring the second medical image in S4, the step further includes: restraining the subject with a respiratory monitoring strap and performing respiratory gating to synchronize the respiratory phase of the second medical image with the respiratory phase of the medical device during movement.

[0010] Optionally, S2 also includes: based on the first path, determining the entry point where the first path passes through the skin of the object; S5 also includes: based on the second path, determining the target point at the end point of the second path and based on the second medical image, determining the registration point of the corresponding medical device.

[0011] Optionally, S3 further includes: confirming that the actuator is mounted on a fixture, and adjusting the posture of the fixture so that the posture of the actuator changes synchronously.

[0012] Optionally, the fixator is configured as a strap, and after confirming that the strap has bound the object, the actuator and the object are relatively fixed to reduce relative movement between the object and the actuator.

[0013] Optionally, the fixator is configured as a universal arm connected to a bed plate, and the bed plate is used to support the object; when the actuator moves relative to the object, S4 is re-executed to update the second medical image.

[0014] In a second aspect, the present invention provides a navigation device for a medical device, which is used for the method described in any one of the first aspects, comprising: an image acquisition unit for acquiring a first medical image containing a navigation target; a processing unit for determining the range of the navigation target based on the first medical image, performing a first path planning, and generating a first path based on an image coordinate system; positioning the actuator before the surgical operation so that the medical device covers the first path when it is in the current effective working space and when it rotates within a preset angle range; the image acquisition unit is also used to acquire a second medical image containing the navigation target and the medical device; the processing unit is also used to perform a second path planning based on the second medical image, and generate a second path based on the image coordinate system; associating the robot coordinate system and the image coordinate system, transforming the second path into a third path based on the robot coordinate system, so as to locate the current coordinates of the medical device in the robot coordinate system; and controlling the movement process of the medical device according to the current coordinates.

[0015] In the third aspect, the present invention provides an actuator for surgical operations, used to execute the method described in the first aspect, including: a first translation module, a second translation module, a first rotation module, a second rotation module and a third translation module connected in sequence; the first translation module is connected to a base; the third translation module is connected to a medical device; the first translation module, the second translation module and the third translation module are all used to drive the medical device to move linearly in their respective directions; the first rotation module and the second rotation module are both used to drive the medical device to rotate around axes in their respective directions.

[0016] Optionally, straps are detachably connected to both sides of the base; an airbag is provided on the end surface of the base facing the object; and when the airbag is inflated or deflated, it is used to adjust the movable space of the object in the straps.

[0017] Optionally, a Velcro pad is fixed to the side of the strap facing away from the subject, and the Velcro pad is used to be adhered to the bed board on the back side of the subject.

[0018] In a fourth aspect, the present invention provides a surgical operation device comprising a memory and a processor, wherein the memory stores a program that can be run on the processor, and when the program is executed by the processor, the surgical operation device implements any one of the methods described in the first aspect.

[0019] In a fifth aspect, the present invention provides a readable storage medium, wherein the readable storage medium stores a program, and when the program is executed, the method described in any one of the first aspects is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] FIG1 is a schematic flow chart of a navigation method for a medical device provided by the present invention;

[0021] FIG2 is a schematic structural diagram of a navigation device for a medical device provided by the present invention;

[0022] FIG3 is a schematic structural diagram of a navigation device provided with a respiratory monitoring strap provided by the present invention;

[0023] FIG4 is a view of the structure of an actuator provided by the present invention along the Y direction;

[0024] FIG5 is a schematic diagram of a three-dimensional structure of an actuator provided by the present invention at a first viewing angle;

[0025] FIG6 is a schematic diagram of a three-dimensional structure of an actuator provided by the present invention at a second viewing angle;

[0026] FIG7 is a schematic structural diagram of a Velcro pad, a base, and a strap provided by the present invention;

[0027] FIG8 is a schematic structural diagram of a base and a strap connected to each other provided by the present invention;

[0028] FIG9 is a schematic diagram of the distribution of airbags on a base provided by the present invention;

[0029] FIG10 is a schematic structural diagram of a surgical operation device provided by the present invention.

[0030] Reference numerals in the figure: 1. actuator; 10. base; 11. first translation module; 111. first slide rail; 112. first slider; 113. crossbeam; 114. first linear motor; 115. first lead screw; 116. first linear motion gear; 12. second translation module; 121. second slide rail; 122. second slider; 123. support; 124. second linear motor; 125. second lead screw; 126. second linear motion gear; 13. third translation module; 131. linear motion arm; 132. instrument holder; 133. third linear motor; 21. first rotation module; 211. first rotation motor; 212. first rotation frame; 213. first rotation gear set; 214. incremental encoder; 215. first worm and worm gear structure; 22. second rotation module; 221. second rotation motor; 222. second rotation frame; 223. Second rotary motion gear set; 224. Second worm gear structure; 30. Respiratory monitoring strap; 31. Velcro; 32. Velcro pad; 33. Airbag; 34. Bed board; 35. Strap; 36. Buckle; 37. Balloon; 38. Airway tube; 39. Object; 40. Surgical operating equipment; 41. Processor; 42. Memory; 43. Output interface; 44. Communication interface; 45. Antenna; 50. Navigation device of medical device; 51. Image acquisition unit; 52. Processing unit; 521. All-in-one machine; 522. Main control box; 53. Power adapter; 54. Power supply. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Unless otherwise defined, the technical terms or scientific terms used herein should be the common meanings understood by people with ordinary skills in the field to which the present invention belongs. The words "including" and similar words used in this article mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects.

[0032] In response to the problems existing in the prior art, as shown in Figure 1, a first embodiment provides a navigation method for a medical device, including: S1, obtaining a first medical image containing a navigation target; S2, determining the range of the navigation target based on the first medical image, performing a first path planning, and generating a first path based on the image coordinate system; S3, adjusting the posture of the actuator used for surgical operation so that the medical device covers the first path in the current effective working space and when it rotates within a preset angle range; S4, obtaining a second medical image containing the navigation target and the medical device; S5, performing a second path planning based on the second medical image, and generating a second path based on the image coordinate system; S6, associating the robot coordinate system and the image coordinate system, transforming the second path into a third path based on the robot coordinate system to locate the current coordinates of the medical device in the robot coordinate system; S7, controlling the movement process of the medical device according to the current coordinates.

[0033] It is worth noting that in this embodiment, the scope of the navigation target is determined based on the first medical image, and a first path planning is performed to generate a first path based on the image coordinate system, which facilitates the determination of the skin entry point. A second path planning is performed based on the second medical image to generate a second path based on the image coordinate system. This facilitates the inclusion of both the lesion target and the actuator registration point in the same image coordinate system, which improves navigation accuracy, eliminates the need for multiple CT scans, saves surgical time, and improves the patient's health.

[0034] Specifically, S1 includes: acquiring a first CT image containing the lesion. S4 includes: acquiring a second CT image containing the lesion and the puncture needle. In other specific embodiments, S1 includes: acquiring a first cone beam computed tomography (CBCT) image containing the lesion. S4 includes: acquiring a second CBCT image containing the lesion and the puncture needle.

[0035] In some embodiments, S2 includes: determining the entry point where the first path passes through the skin of the object based on the first path; S5 includes: determining the target point at the end point of the second path based on the second path and determining the registration point of the corresponding medical device based on the second medical image.

[0036] Specifically, the medical device is configured as a puncture needle, and the first path is used to determine the entry point where the puncture needle passes through the skin of the object. The second path is used to determine that the end point of the second path is the lesion target. With reference to the second medical image, the second image is aligned with the actuator based on the image information of the developable alignment device, and the developable alignment device is located on the actuator. It is worth noting that the alignment device is configured as a steel ball or any component that is developed in the second medical image. In other specific embodiments, the medical device is configured as a biopsy needle. In still other specific embodiments, the medical device is configured as an ablation needle.

[0037] In some embodiments, S3 further includes: confirming that the actuator is mounted on a fixture, and adjusting the posture of the fixture to synchronize the posture of the actuator. Specifically, the actuator is detachably connected to the fixture. When the fixture translates or rotates, the actuator translates or rotates synchronously with the fixture.

[0038] In some embodiments, when acquiring the second medical image in S4, the step further includes: restraining the subject with a respiratory monitoring strap and performing respiratory gating to synchronize the respiratory phase of the second medical image with the respiratory phase of the medical device during movement.

[0039] Specifically, the respiratory gating includes selecting a suitable respiratory phase for puncture; illustratively, the respiratory cycle of the subject is monitored in real time by a respiratory monitoring strap, and a CT scan is performed at the end of exhalation, at which time the respiratory phase and amplitude at that moment are recorded. During the puncture, when the subject reaches the end-expiratory phase or amplitude in a subsequent respiratory cycle, the subject is prompted to hold his breath and the puncture is performed. In another example, a CT scan is performed at the end of inspiration, and at this time the respiratory phase and amplitude at that moment are recorded. During the puncture, when the subject reaches the end-inspiratory phase or amplitude in a subsequent respiratory cycle, the subject is prompted to hold his breath and the puncture is performed. This embodiment can ensure that the image and the subject are as consistent as possible.

[0040] In some embodiments, the fastener is configured as a strap. Once the strap is secured to the object, the actuator and the object are fixed relative to each other to reduce relative movement between the object and the actuator. Specifically, the strap is connected to the actuator at both ends, and the middle portion of the strap surrounds the object. The object's free space relative to the actuator is limited between the strap and the actuator. When the strap is tightened, the strap is secured to the object, confirming that the actuator and the object are fixed relative to each other.

[0041] In some embodiments, the holder is configured as a universal arm connected to a bedboard, the bedboard being used to support the subject. When the actuator moves relative to the subject, step S4 is re-executed to update the second medical image. Specifically, the subject lies supinely on the bedboard, with the side of the bedboard connected to the fixed end of the universal arm. The actuator is configured to move the universal arm. The universal arm is configured to drive the actuator to follow the subject's movement, thereby maintaining a constant relative position between the medical device mounted on the actuator and the subject.

[0042] In some specific embodiments, in S6, the robot coordinate system is the position coordinate system of the medical device generated by the actuator for calibration. In S7, the current coordinate-controlled motion process of the medical device may be a process of continuous motion of the medical device from an entry point to a target point. The current coordinate-controlled motion process of the medical device may also be a stepwise motion of the medical device from an entry point to a target point, with the pause points between the stepwise motions being used to adjust the direction of the medical device for the next stepwise motion.

[0043] As shown in Figures 2 and 3, the second embodiment provides a navigation device 50 for a medical device, which is used for the method described in any one of the first embodiments, including: an image acquisition unit 51, used to acquire a first medical image containing a navigation target; a processing unit 52, used to determine the range of the navigation target based on the first medical image, perform a first path planning, and generate a first path based on the image coordinate system; before the surgical operation, the actuator 1 is positioned so that the medical device covers the first path in the current effective working space and when rotating within a preset angle range; the image acquisition unit 51 is also used to acquire a second medical image containing the navigation target and the medical device; the processing unit 52 is also used to perform a second path planning based on the second medical image, and generate a second path based on the image coordinate system; the robot coordinate system and the image coordinate system are associated to transform the second path into a third path based on the robot coordinate system to locate the current coordinates of the medical device in the robot coordinate system; and the movement process of the medical device is controlled according to the current coordinates.

[0044] Specifically, the image acquisition unit 51 includes a CT scanning system, a computer system, and an image display and storage system, and is configured to acquire a first CT image and a second CT image. The CT scanning system includes an X-ray generator and a detector. The X-ray generator generates X-rays, while the detector receives the X-rays after they pass through the object 39 and converts them into electrical signals for output as CT images.

[0045] In another specific embodiment, the processing unit 52 includes a main control box 522 and an all-in-one device 521. The all-in-one device 521 is connected to the main control box 522, the respiratory monitoring strap 30, and the image acquisition unit 51 via a data cable. The main control box 522 is connected to the actuator 1. In another specific embodiment, the main control box 522 is connected to a power adapter 53, which is connected to a power supply 54 for power supply. In another specific embodiment, the main control box 522 is provided with a buzzer, and the actuator 1 is provided with an indicator light. Both the buzzer and the indicator light are used for fault alarms.

[0046] As shown in Figures 2 and 4, the third embodiment provides an actuator for surgical operations, which is used to execute the method described in the above embodiments. The actuator 1 includes: a first translation module 11, a second translation module 12, a first rotation module 21, a second rotation module 22 and a third translation module 13 connected in sequence; the first translation module 11 is connected to a base 10; the third translation module 13 is connected to a medical device; the first translation module 11, the second translation module 12 and the third translation module 13 are all used to drive the medical device to move linearly in their respective directions; the first rotation module 21 and the second rotation module 22 are both used to drive the medical device to rotate around their respective axes in different directions.

[0047] Specifically, the first translation module 11 includes a first slide rail 111, a first slider 112, a crossbeam 113, and a first linear motor 114. The first slide rail 111 is fixed to the base 10. The first slider 112 is slidably connected to the first slide rail 111. The crossbeam 113 is fixedly connected to the first slider 112. One end of the crossbeam 113 is connected to the first linear motor 114. When the first linear motor 114 is in operation, it is used to push the crossbeam 113 and the first slider 112 to move relative to the first slide rail 111 in the X direction or the opposite X direction.

[0048] Exemplarily, the first translation module 11 further includes a first linear motion gear 116, which is fixedly connected to the crossbeam 113. The first linear motion gear 116 meshes with a first helical gear, and the main shaft of the first linear motor 114 is connected to the first helical gear. When the first linear motor 114 drives the first helical gear to rotate, the first linear motion gear 116 translates along the main shaft direction of the first linear motor 114, i.e., in the X direction or the anti-X direction.

[0049] In another example, the first translation module 11 further includes a first screw rod 115 , which is connected to the first linear motor 114 , and is used to push the beam 113 and the first slider 112 to move relative to the first slide rail 111 along the X direction or the X reverse direction.

[0050] In some other specific embodiments, the second translation module 12 includes a second slide rail 121, a second slider 122, a support 123 and a second linear motor 124. The second slide rail 121 is fixed on the crossbeam 113. The second slider 122 is slidably connected to the second slide rail 121. The support 123 is fixedly connected to the second slider 122. One end of the support 123 is connected to the second linear motor 124. When the second linear motor 124 is running, it is used to push the support 123 and the second slider 122 to move along the Y direction or the opposite direction of Y relative to the second slide rail 121.

[0051] Exemplarily, the second translation module 12 further includes a second linear motion gear 126, which is fixedly connected to the crossbeam 113. The second linear motion gear 126 meshes with a second helical gear, and the main shaft of the second linear motor 124 is connected to the second helical gear. When the second linear motor 124 drives the second helical gear to rotate, the second linear motion gear 126 translates along the main shaft direction of the second linear motor 124, i.e., in the Y direction or the reverse Y direction.

[0052] In another example, the second translation module 12 further includes a second screw rod 125, which is connected to the second linear motor 124. The second screw rod 125 is used to push the beam 113 and the second slider 122 to move along the Y direction or the opposite Y direction relative to the second slide rail 121.

[0053] In some further specific embodiments, the first rotating module 21 includes a first rotating motor 211 and a first rotating frame 212. The first rotating motor 211 is fixed on the support 123. When the first rotating motor 211 is running, the first rotating frame 212 rotates around an axis perpendicular to the first rotating plane.

[0054] As shown in Figure 5, illustratively, the first rotating module 21 can also be configured as a deflection structure consisting of a driving component, a transmission component, and a sensor component. The driving component is a first rotating motor 211 with a large reduction ratio, and the transmission component includes a first rotating motion gear set 213 and a first worm gear structure 215. The first rotating motion gear set 213 includes a driving gear and a passive gear. The driving gear is connected to the output shaft of the first rotating motor 211, the passive gear is connected to the worm shaft, and the worm gear is connected to the first rotating frame 212. The driving torque of the motor is transmitted to the worm shaft through the gear, and then transmitted to the first rotating frame 212 through the first worm gear structure 215, thereby driving the first rotating frame 212 to deflect at a preset angle.

[0055] In another example, the deflection mechanism is further configured with a dual encoder structure. An incremental encoder 214 is mounted on the motor to monitor the rotation angle of the first rotary motor 211. The deflection motion component is also equipped with an angle encoder, whose code disk is mounted on the first rotating frame 212 and deflects along with the first rotating frame 212. The angle encoder's read head detects the actual rotation angle of the main rotating shaft, enabling dual closed-loop control. This dual closed-loop control mode allows for more precise angular deflection, thereby achieving precise positioning of medical devices and improving surgical safety.

[0056] As shown in Figure 6, in some specific embodiments, the second rotating module 22 includes a second rotating motor 221 and a second rotating frame 222. The second rotating motor 221 is fixed to the circumferential side of the first rotating frame 212. When the second rotating motor 221 is running, the second rotating frame 222 rotates around an axis perpendicular to the second rotation plane. It is worth noting that the second rotating module 22 can also be set to a deflection structure corresponding to the first rotating module 21 in the above embodiment, such as providing a second rotating motion gear set 223 and a second worm gear structure 224, which will not be repeated here. It is worth noting that the above-mentioned worm gear structure can also be replaced with a screw structure to meet different application scenarios.

[0057] In some specific embodiments, the third translation module 13 includes a linear motion arm 131 and an instrument holder 132; the instrument holder 132 is used to hold the medical instrument. The linear motion arm 131 is used to drive the instrument holder 132 loaded with the medical instrument toward or away from the object 39 along the main axis of the medical instrument.

[0058] More specifically, the linear motion arm 131 is driven by a third linear motor. When the third linear motor rotates in the forward direction, the linear motion arm 131 drives the instrument holder 132 loaded with the medical instrument along the main axis of the medical instrument toward the object 39. When the third linear motor rotates in the reverse direction, the linear motion arm 131 drives the instrument holder 132 loaded with the medical instrument along the main axis of the medical instrument away from the object 39.

[0059] A second slider 122 is slidably connected to the second slide rail 121. A support 123 is fixedly connected to the second slider 122. One end of the support 123 is connected to a second linear motor 124. When the second linear motor 124 is in operation, it propels the support 123 and the second slider 122 relative to the second slide rail 121 in the Y direction or the reverse Y direction.

[0060] It is worth noting that the above embodiments can adjust the moving distance of the medical device in the horizontal X and Y directions, the insertion depth of the medical device, the pitch angle and the yaw angle, so as to facilitate flexible operation of the medical device.

[0061] As shown in Figures 7, 8 and 9, in some embodiments, straps 35 are detachably connected to both sides of the base 10; an airbag 33 is provided on the end face of the base 10 facing the object 39; when the airbag 33 is inflated or deflated, it is used to adjust the movable space of the object 39 in the strap 35.

[0062] In some embodiments, a Velcro pad 32 is fixed to the side of the strap 35 facing away from the object 39 , and the Velcro pad 32 is used to adhere to the bed board 34 on the back side of the object 39 .

[0063] Specifically, before use, the airbag 33 is emptied of gas, the airbag 33 is pasted to the bottom of the base 10, the Velcro pad 32 is placed under the supine subject 39, the base 10 strap 35 is fixed to the Velcro pad 32, and the volume of the airbag 33 is adjusted so that the base 10 with the airbag 33 and the subject 39 are relatively fixed.

[0064] In other specific embodiments, the base 10 has four independently inflatable or deflated airbags 33 beneath it. By adjusting the volume of the four or some of the airbags 33, the base 10 can effectively cover the uneven surface of the subject 39, stably securing it to the subject 39 or stably securing it to the subject 39 in various positions. This embodiment achieves a stable fixation between the base 10 and the surface of the subject 39 by independently controlling the four airbags 33.

[0065] In some specific embodiments, each airbag 33 is connected to an air guide tube 38, and the other end of each air guide tube 38 is connected to a balloon 37. The balloon 37 is used to inflate the corresponding airbag 33 through the air guide tube 38. The airbag 33 is also provided with an exhaust port. When the exhaust port is opened, the gas in the airbag 33 is discharged through the exhaust port.

[0066] For example, the front airbags 33 are fully inflated while the rear airbags are under-inflated. After the fixation is completed, the head portion of the base 10 can be lifted. The Velcro 31 strap 35 of the base 10 cooperates with the second Velcro 31 to allow the position of the device on the body surface of the subject 39 to be changed without the subject 39 moving.

[0067] In another example, when device base 10 is secured to the chest of subject 39, it is positioned slightly toward subject 39's feet. At this point, the Velcro 31 strap 35 on base 10 is removed from the Velcro pad 32. Without moving subject 39, base 10 is moved slightly toward subject 39's head, and the strap 35 on base 10 is then attached to the Velcro pad 32. Any portion of the Velcro pad 32 can be attached to the Velcro 31 strap 35 on base 10.

[0068] In another example, a buckle 36 is provided at the end of the strap 35, and when the buckle 36 is engaged with the base 10, it is used to tighten the strap 35. In another example, the strap 35 is configured as a breathable elastic band, which is conducive to improving wearing comfort.

[0069] As shown in Figure 10, the fourth embodiment provides a surgical operation device 40, including a memory 42 and a processor 41, wherein the memory 42 stores a program that can be run on the processor 41. When the program is executed by the processor 41, the surgical operation device 40 implements any one of the methods in the above embodiments.

[0070] In a possible embodiment, the surgical operation device 40 further includes: an output interface 43 for outputting results; a communication interface 44 for communicating and transmitting signals; and an antenna 45 for transmitting or receiving signals.

[0071] It should be noted that the processor 41 in this embodiment can be an image processing chip or an integrated circuit chip capable of processing image signals. During implementation, each step of the above-described method embodiment can be completed by hardware integrated logic circuits in the processor or by software instructions. The above-described processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic device. The methods, steps, and logic block diagrams disclosed in this embodiment can be implemented or executed. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this embodiment can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and, in conjunction with its hardware, completes the steps of the above-described method.

[0072] It is understood that the memory 42 in this embodiment can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0073] A fifth embodiment provides a readable storage medium, wherein the readable storage medium stores a program, and when the program is executed, the method according to any one of the above embodiments is implemented.

[0074] It is worth noting that if the method is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product, stored in a storage medium, including several instructions for causing a surgical operating device to perform all or part of the steps of the method described in various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a mobile hard drive, a read-only memory, a random access memory, a magnetic disk, or an optical disk.

[0075] While the embodiments of the present invention have been described in detail above, it will be apparent to those skilled in the art that various modifications and variations of these embodiments are possible. However, it should be understood that such modifications and variations are within the scope and spirit of the present invention as set forth in the claims. Furthermore, the invention described herein is susceptible to other embodiments and may be practiced or implemented in a variety of ways.

Claims

1. A navigation method for medical equipment, characterized in that: include: S1, acquiring a first medical image containing a navigation target; S2, determining the range of the navigation target based on the first medical image, performing a first path planning, and generating a first path based on the image coordinate system; S3, positioning the actuator before the surgical operation so that the medical device covers the first path in the current effective working space and when rotating within a preset angle range; S4, acquiring a second medical image including the navigation target and the medical device; S5, performing a second path planning based on the second medical image to generate a second path based on the image coordinate system; S6, associating the robot coordinate system with the image coordinate system, transforming the second path into a third path based on the robot coordinate system, so as to locate the current coordinates of the medical device in the robot coordinate system; S7, controlling the movement process of the medical device according to the current coordinates.

2. The method according to claim 1, characterized in that When acquiring the second medical image in S4, the method further includes: The subject is restrained using a respiratory monitoring strap and respiratory gating is performed so that the respiratory phase of the second medical image is synchronized with the respiratory phase when the medical device moves.

3. The method according to claim 1, characterized in that Said S2 further comprises: Based on the first path, determining an entry point where the first path passes through the skin of the subject; The S5 further includes: Based on the second path, a target point at an end point of the second path is determined, and based on the second medical image, a registration point corresponding to the medical device is determined.

4. The method according to claim 1, wherein S3 also includes: Confirm that the actuator is mounted on the fixture, and adjust the posture of the fixture so that the posture of the actuator changes synchronously.

5. The method according to claim 4, characterized in that The fixator is configured as a strap, and after confirming that the strap has bound the object, the actuator and the object are relatively fixed to reduce relative movement between the object and the actuator.

6. The method according to claim 4, characterized in that The fixer is configured as a universal arm connected to a bed plate, and the bed plate is used to carry the object; when the actuator moves relative to the object, S4 is re-executed to update the second medical image.

7. A navigation device for medical equipment, used in the method according to any one of claims 1 to 5, characterized in that: include: An image acquisition unit, configured to acquire a first medical image containing a navigation target; a processing unit configured to determine the range of a navigation target based on the first medical image, perform a first path planning, and generate a first path based on the image coordinate system; and position the actuator before the surgical operation so that the medical device covers the first path within the current effective working space and when rotating within a preset angle range; The image acquisition unit is also used to acquire the image including the navigation target and the medical device. Second medical imaging; The processing unit is also used to perform a second path planning based on the second medical image to generate a second path based on the image coordinate system; associate the robot coordinate system and the image coordinate system to transform the second path into a third path based on the robot coordinate system to locate the current coordinates of the medical device in the robot coordinate system; and control the movement process of the medical device according to the current coordinates.

8. An actuator for surgical operation, used to perform the method according to claim 1, characterized in that: include: A first translation module, a second translation module, a first rotation module, a second rotation module and a third translation module connected in sequence; The first translation module is connected to a base; the third translation module is connected to a medical device; The first translation module, the second translation module and the third translation module are all used to drive the medical device to move linearly along different directions; The first rotating module and the second rotating module are both used to drive the medical device to rotate around their respective axes in different directions.

9. The actuator according to claim 8, characterized in that Both sides of the base are detachably connected with straps; The end surface of the base facing the object is provided with an air bag; When the airbag is inflated or deflated, it is used to adjust the movable space of the object in the strap.

10. The actuator according to claim 9, characterized in that A Velcro pad is fixed on the side of the strap facing away from the subject, and the Velcro pad is used to be adhered to the bed board on the back side of the subject.

11. A surgical operation device, characterized in that: The surgical operation device comprises a memory and a processor, wherein the memory stores a program that can be run on the processor, and when the program is executed by the processor, the surgical operation device implements the method according to any one of claims 1 to 6.

12. A readable storage medium having a program stored therein, characterized in that: When the program is executed, the method according to any one of claims 1 to 6 is implemented.

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