Device, method, and apparatus for positioning in surgery, and medium

Abstract

The present disclosure provides a device, method, and apparatus for positioning in a surgery, and a medium. The device comprises: a trolley; an operation module, comprising a mechanical arm, wherein one end of the mechanical arm is arranged on the trolley by means of a base, and the base is configured to determine a coordinate system corresponding to the mechanical arm; a positioning module, comprising a positioning unit and a reference unit, wherein the positioning unit is fixed at a distal end of the mechanical arm, the reference unit is fixed on an operating table, and during the positioning, the reference unit is attached to the positioning unit; and a navigation module, arranged on the trolley and comprising a mechanical arm controller and a computer, wherein the computer is in communication connection with the mechanical arm controller and configured to control a posture of the mechanical arm by means of the mechanical arm controller. The device can determine the relative positions of the lesion tissue and the mechanical arm by means of CT images and mechanical navigation positioning, thereby solving the problem that related devices are susceptible to interference from environmental metals and illumination and ensuring the accuracy and efficiency of the positioning.

Description

Positioning apparatus, method, device and medium for surgical operation

[0001] Cross-reference to related applications

[0002] The present disclosure claims priority to the Chinese patent application No. 2024108806804, filed on July 2, 2024, and entitled "Positioning apparatus, method, device and medium for surgical operation", the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of surgical positioning and navigation, and particularly relates to a positioning apparatus, method, device and medium for surgical operation. BACKGROUND

[0004] In surgical operations such as lung puncture operations, the positioning of lesion tissues such as lung nodules is a difficulty of the entire operation, and the related positioning and navigation apparatuses usually adopt electromagnetic navigation or optical navigation to realize the positioning of lung nodules. However, the electromagnetic navigation is susceptible to the interference of metals in the environment, and when there is metal in the environment, the accuracy of positioning cannot be guaranteed; and the optical navigation has a higher requirement for light, and needs to ensure that there is no obstruction, and when the light does not meet the requirements, the reference objects need to be captured repeatedly for positioning, and therefore the positioning efficiency is low.

[0005] SUMMARY

[0006] In view of this, the purpose of the present disclosure is to provide a positioning apparatus, method, device and medium for surgical operation, which adopts a mechanical positioning method based on CT images, solves the problem that related apparatuses are susceptible to the influence of environment metals and light, and guarantees the accuracy and efficiency of positioning.

[0007] The present disclosure provides a positioning apparatus for surgical operation, which comprises:

[0008] a trolley;

[0009] an operation module comprising a mechanical arm, one end of the mechanical arm being arranged on the trolley through a base, the base being configured to determine a coordinate system corresponding to the mechanical arm;

[0010] a positioning module comprising a positioning unit and a reference unit, wherein the positioning unit is fixed at the end of the mechanical arm, and the reference unit is fixed on an operating table, and in the positioning process, the reference unit is attached to the positioning unit;

[0011] a navigation module arranged on the trolley, comprising a mechanical arm controller and a computer, wherein the computer and the mechanical arm controller are communicatively connected, and are configured to control the posture of the mechanical arm through the mechanical arm controller;

[0012] The computer is further configured to acquire a CT image including a patient on an operating table and the reference unit in the CT image, the CT image being configured to determine a first coordinate of a lesion tissue of the patient in a coordinate system of the reference unit; the computer is further configured to determine a target coordinate conversion relationship between the reference unit and the mechanical arm; and determine a target coordinate of the lesion tissue in a coordinate system corresponding to the mechanical arm according to the first coordinate and the target coordinate conversion relationship.

[0013] Optionally, a plurality of grooves are arranged on the positioning unit.

[0014] A plurality of first protrusions are arranged on the reference unit.

[0015] The first protrusions correspond to the grooves one by one, and each first protrusion is fitted with a corresponding groove when the positioning unit is fitted with the reference unit.

[0016] Optionally, a second protrusion is arranged on the reference unit, the second protrusion is not in a plane formed by any three first protrusions.

[0017] The second protrusion and the first protrusion are configured to determine a coordinate system corresponding to the reference unit, and the second protrusion is located at the origin of the coordinate system corresponding to the reference unit.

[0018] Optionally, a puncture channel is arranged on the positioning unit, configured to provide a path for a puncture needle.

[0019] Optionally, the mechanical arm includes a plurality of joints, the joints are configured to rotate based on control instructions of the mechanical arm controller, or rotate based on manual traction of an operator, to adjust the posture of the mechanical arm.

[0020] The distance between the base and the end of the mechanical arm is greater than a preset distance threshold.

[0021] The embodiments of the present disclosure further provide a positioning method for surgical operation, the method is applied to the computer in the positioning device for surgical operation as described above, and the method comprises:

[0022] Receiving a CT image obtained by scanning a patient on an operating table and the reference unit by a CT scanner, and determining a first coordinate of a lesion tissue in a coordinate system of the reference unit according to the CT image;

[0023] In the case that the reference unit and the positioning unit are fitted, determining a target coordinate conversion relationship between the reference unit and the mechanical arm;

[0024] According to the first coordinate conversion relationship and the second coordinate conversion relationship, a target coordinate conversion relationship between the reference unit and the mechanical arm is determined.

[0025] Optionally, the target coordinate conversion relationship between the reference unit and the mechanical arm is determined by:

[0026] A first coordinate conversion relationship between the reference unit and the positioning unit is determined.

[0027] Mechanical arm posture information sent by the mechanical arm controller is acquired, and a second coordinate conversion relationship between the positioning unit and the mechanical arm is determined according to the mechanical arm posture information.

[0028] According to the first coordinate conversion relationship and the second coordinate conversion relationship, a target coordinate conversion relationship between the reference unit and the mechanical arm is determined.

[0029] Optionally, the first coordinate conversion relationship between the reference unit and the positioning unit is determined by:

[0030] According to the position of the first protrusion of the reference unit in the reference unit, a second coordinate of the first protrusion in the coordinate system of the positioning unit is determined.

[0031] According to the second coordinate, the first coordinate conversion relationship between the reference unit and the positioning unit is determined.

[0032] The disclosure also provides a positioning device for surgical operation, which is applied to a computer in the positioning equipment for surgical operation as described above, and the device comprises:

[0033] A lesion tissue coordinate acquisition module is configured to receive CT images obtained by a CT machine scanning a patient on the operating table and the reference unit, and determine a first coordinate of the lesion tissue in the coordinate system of the reference unit according to the CT images.

[0034] A coordinate system conversion module is configured to determine a target coordinate conversion relationship between the reference unit and the mechanical arm when the reference unit and the positioning unit are attached.

[0035] A lesion tissue positioning module is configured to determine a target coordinate of the lesion tissue in the coordinate system corresponding to the mechanical arm according to the first coordinate and the target coordinate conversion relationship.

[0036] Optionally, the coordinate conversion module is configured to:

[0037] A first coordinate conversion relationship between the reference unit and the positioning unit is determined.

[0038] obtain the mechanical arm posture information sent by the mechanical arm controller, and determine a second coordinate conversion relationship between the positioning unit and the mechanical arm according to the mechanical arm posture information;

[0039] determine a target coordinate conversion relationship between the reference unit and the mechanical arm according to the first coordinate conversion relationship and the second coordinate conversion relationship.

[0040] Optionally, the coordinate conversion module is configured to:

[0041] determine a second coordinate of the first protrusion in the coordinate system of the positioning unit according to the position of the first protrusion of the reference unit in the reference unit;

[0042] determine a first coordinate conversion relationship between the reference unit and the positioning unit according to the second coordinate.

[0043] The disclosure also provides a computer readable storage medium, which stores a computer program. When the computer program is run by a processor, the steps of the positioning method for surgical operation are executed.

[0044] The positioning device, method, apparatus and medium for surgical operation provided by the disclosure are characterized in that the operating module and the navigation module are arranged on the trolley. The operating module includes a movable mechanical arm, which can be configured for surgical operation. The navigation module includes a computer and a mechanical arm controller, which can control the movement of the mechanical arm through instructions or obtain the pose information returned by the mechanical arm. In addition, unlike related navigation positioning devices, the disclosure arranges a reference unit on the operating table. When CT scanning is performed, the patient and the reference unit are scanned together. Therefore, the relative position of the reference unit and the patient's lesion tissue can be determined according to the CT image. In addition, the disclosure further arranges a positioning unit at the end of the mechanical arm. The relative position of the positioning unit and the mechanical arm can be determined according to the posture of the mechanical arm. During navigation positioning, the positioning unit and the reference unit are mechanically connected. The relative position of the reference unit and the positioning unit can be determined through the fitting of the two. Finally, the relative position of the lesion tissue and the mechanical arm can be determined according to the relative position of the positioning unit and the mechanical arm, the relative position of the reference unit and the patient's lesion tissue, and the relative position of the reference unit and the positioning unit, so as to realize the navigation positioning of the mechanical arm.

[0045] Compared with the navigation positioning device adopting the electromagnetic navigation or optical navigation principle in the related art, the device of the disclosure adopts the mechanical navigation principle, which avoids the influence of environmental factors such as light intensity change, shielding, metal, etc. on the navigation positioning accuracy, effectively solves the problem that the related navigation positioning device is easily affected by environmental metal and light, and guarantees the accuracy and efficiency of positioning.

[0046] In order to make the above objectives, characteristics and advantages of the present disclosure more obvious and easy to understand, the following preferred embodiments are specifically described below, and the accompanying drawings are described in detail as follows. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present disclosure, and therefore should not be considered as a limitation to the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0048] FIG. 1 shows a perspective structural schematic diagram of a positioning device for surgical operation provided by an embodiment of the present disclosure;

[0049] FIG. 2 shows a perspective structural schematic diagram of a positioning unit provided by an embodiment of the present disclosure;

[0050] FIG. 3 shows a cross-sectional schematic diagram of a positioning unit provided by an embodiment of the present disclosure;

[0051] FIG. 4 shows a perspective structural schematic diagram of a reference unit provided by an embodiment of the present disclosure;

[0052] FIG. 5 shows a perspective schematic diagram of a fitting of a stereoscopic unit and a reference unit provided by an embodiment of the present disclosure;

[0053] FIG. 6 shows a cross-sectional schematic diagram of a fitting of a stereoscopic unit and a reference unit provided by an embodiment of the present disclosure;

[0054] FIG. 7 shows a flowchart of a positioning method for surgical operation provided by an embodiment of the present disclosure;

[0055] FIG. 8 shows a coordinate system schematic diagram of a positioning method for surgical operation provided by an embodiment of the present disclosure;

[0056] FIG. 9 shows a flowchart of another positioning method for surgical operation provided by an embodiment of the present disclosure;

[0057] FIG. 10 shows a flowchart of still another positioning method for surgical operation provided by an embodiment of the present disclosure;

[0058] FIG. 11 shows a structural schematic diagram of a positioning device for surgical operation provided by an embodiment of the present disclosure.

[0059] In the drawings: 1 trolley, 2 mechanical arm controller, 3 computer, 4 mechanical arm, 5 positioning unit, 51 groove, 52 puncture channel, 6 reference unit, 61 first protrusion, 62 second protrusion, 63 reference unit base, 7 display. DETAILED DESCRIPTION

[0060] To make the objects, technical solutions and advantages of the embodiments of the present disclosure clearer, the following will be combined with the accompanying drawings of the embodiments of the present disclosure to make a clear and complete description of the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure and not all the embodiments. The components of the embodiments of the present disclosure described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present disclosure provided in the accompanying drawings is not intended to limit the scope of the claimed present disclosure, but only represents selected embodiments of the present disclosure. Based on the embodiments of the present disclosure, every other embodiment obtained by a person skilled in the art without creative work belongs to the scope protected by the present disclosure.

[0061] Firstly, the application scenarios applicable to the present disclosure are introduced. The present disclosure can be applied to the positioning and navigation scenarios of patient lesion tissue in surgical operations. For example, in the field of lung biopsy, the positioning accuracy of lung nodules will directly affect the efficiency and success rate of biopsy. Traditional "blind puncture" by experienced doctors requires high requirements for doctors, cannot guarantee accuracy, and is low in efficiency. In order to solve this problem, some puncture navigation positioning devices have appeared in recent years, which use electromagnetic navigation or optical navigation principles to realize auxiliary positioning of lung nodules. Among them, the navigation positioning device using electromagnetic navigation further determines the position of the lung nodule by analyzing the position of the coil sensor temporarily established in this case; the navigation positioning device using optical navigation captures the reference object by means of a camera, and then further determines the position of the lung nodule according to the position of the reference object.

[0062] It is found through research that electromagnetic navigation is easily disturbed by metals in the environment, and when there are metals in the environment, the accuracy of positioning cannot be guaranteed; while optical navigation has high requirements for light, which needs to be guaranteed not to be blocked, and when the light does not meet the requirements, the reference object needs to be captured repeatedly for positioning, so the positioning efficiency is low. In other words, both of these two devices have high requirements for the operating environment, and when the environment does not meet the requirements, the positioning accuracy and efficiency are low, so the working range is limited, and it is difficult to effectively promote to primary hospitals.

[0063] Based on this, the embodiments of the present disclosure provide a positioning device for surgical operations to solve the problem that related devices are easily affected by environmental metals and light, and to guarantee the accuracy and efficiency of positioning.

[0064] Please refer to FIG. 1, which is a structure diagram of a positioning device for surgical operations provided by the embodiments of the present disclosure. As shown in FIG. 1, the device includes a trolley 1, a navigation module, an operation module and a positioning module. Among them, the navigation module includes a mechanical arm controller 2 and a computer 3; the operation module includes a mechanical arm 4; the positioning module includes a positioning unit 5 and a reference unit 6.

[0065] Specifically, the trolley 1 is the base of the whole device, on which the operation module and the navigation module are integratedly installed. In addition, the trolley 1 can be provided with a roller below, through which the trolley is freely moved, and in the specific surgical process, it can be flexibly placed at the side of the operating bed according to the actual requirements on site.

[0066] In the navigation module, the mechanical arm controller 2 and the computer 3 are in communication connection, the mechanical arm controller 2 can receive the control instructions sent by the computer 3, and control the posture of the mechanical arm 4 according to the control instructions, and also can collect the posture information and other data of the mechanical arm 4, and upload to the computer 3.

[0067] In addition, in addition to the automatic control mode, the mechanical arm 4 is controlled by the mechanical arm controller 2 to move, the mechanical arm 4 also has a manual control mode, that is, manually pulled by the operator to position.

[0068] In the operation module, one end of the mechanical arm 4 is arranged on the trolley through the base, and the other end, that is, the tail end, is provided with the positioning unit 5 in the positioning module. In addition, since the base is always stationary regardless of the change of the posture of the mechanical arm 4 during the movement of the mechanical arm 4, the base can be configured to determine the corresponding coordinate system of the mechanical arm 4.

[0069] In the positioning module, as described above, the positioning unit 5 is fixed at the tail end of the mechanical arm 4, and the reference unit 6 is fixed on the operating table. In the positioning process, the positioning unit 5 and the reference unit 6 are mechanically connected, and the two are in close contact with each other. Therefore, in the close contact state, the relative position of the positioning unit 5 and the reference unit 6 can be calculated.

[0070] In addition, since the reference unit 6 is arranged on the operating table, the specific position is beside the patient, therefore, when CT scanning is performed, the reference unit 6 and the patient are scanned together. The CT image is transmitted to the computer 3, and the computer 3 can determine the relative position of the reference unit 6 and the lesion tissue of the patient through the image.

[0071] In the specific working process of the positioning device, the computer 3 collects the CT image, and determines the first coordinate of the lesion tissue of the patient in the coordinate system of the reference unit 6 according to the CT image; in the close contact state of the reference unit 6 and the positioning unit 5, the target coordinate conversion relationship between the reference unit 6 and the mechanical arm 4 is determined based on the pose of the positioning unit 5, the reference unit 6 and the mechanical arm 4; finally, the target coordinate of the lesion tissue in the corresponding coordinate system of the mechanical arm 4 is determined according to the first coordinate and the target coordinate conversion relationship. Based on CT scanning and mechanical mode, the positioning of the lesion tissue is realized through such coordinate conversion.

[0072] The embodiment adopts a mechanical navigation principle, avoids the influence of environmental factors such as light intensity change, shielding, metal, etc. on the navigation positioning accuracy, effectively solves the problem that the related navigation positioning device is easily affected by environmental metal and light, and guarantees the positioning accuracy and efficiency.

[0073] In addition, the navigation module can further include a display 7 configured to provide a human-machine interface to provide display and operation functions to the operator.

[0074] Optionally, a plurality of grooves 51 are arranged on the positioning unit 5, a plurality of first protrusions 61 are arranged on the reference unit 6, the first protrusions 61 correspond to the grooves 51 one by one, and each first protrusion 61 is attached to the corresponding groove 51 when the positioning unit 5 and the reference unit 6 are attached.

[0075] Specifically, a plurality of grooves 51 are arranged on the positioning unit 5, a plurality of first protrusions 61 are arranged on the reference unit 6, the shapes of the grooves 51 and the first protrusions 61 are matched, and the positions of the grooves 51 and the first protrusions 61 also correspond. When the positioning unit 5 and the reference unit 6 are attached, the first protrusions 61 are embedded in the corresponding grooves 51.

[0076] It can be understood that such a setting is to realize the attachment of the positioning unit 5 and the reference unit 6, and therefore, a plurality of protrusions can also be arranged on the positioning unit 5, and a plurality of grooves can be arranged on the reference unit 6.

[0077] Please refer to FIG. 2 and FIG. 3, FIG. 2 is a perspective view of the positioning unit 5 provided by another embodiment of the present disclosure, and FIG. 3 is a sectional view of the positioning unit 5 provided by another embodiment of the present disclosure. As shown in FIG. 2, three grooves 51 are arranged on the positioning unit 5. As shown in FIG. 3, the groove 51 is in the shape of a circular truncated cone, and the cross section thereof is a trapezoid.

[0078] Please refer to FIG. 4, which is a perspective view of the reference unit 6 provided by another embodiment of the present disclosure. As shown in FIG. 4, three first protrusions 61 are arranged on the reference unit 6, and the first protrusions 61 are in the shape of a sphere.

[0079] Please refer to FIG. 5 and FIG. 6, FIG. 5 is a perspective view of the attachment of the positioning unit 5 and the reference unit 6 provided by another embodiment of the present disclosure, and FIG. 6 is a sectional view of the attachment of the positioning unit 5 and the reference unit 6 provided by another embodiment of the present disclosure. As shown in FIG. 4 and FIG. 5, when the positioning unit 5 and the reference unit 6 are mechanically connected, i.e., when they are attached, the sphere of each first protrusion 61 is embedded in the circular truncated cone surface of the groove 51, i.e., the first protrusion 61 is attached to the corresponding groove 51.

[0080] When selecting materials, the positioning unit 5 can be selected from metal materials or hard engineering plastics, and the reference unit 6 can be selected from hard engineering materials such as acrylic and the like, which can guarantee the machining precision and also ensure good imaging characteristics.

[0081] In the manufacturing, the positioning unit 5 and the reference unit 6 are manufactured by precision machining to ensure the matching accuracy. The first protrusions 61 in the reference unit 6 are integrally formed to ensure the relative position relationship and dimensional tolerance among the first protrusions 61, so as to ensure the accuracy of the established reference unit coordinate system.

[0082] Optionally, the second protrusion 62 is arranged on the reference unit 6, and the second protrusion 62 is not in the plane formed by any three first protrusions 61; the second protrusion 62 is configured to determine the corresponding coordinate system of the reference unit 6, and the second protrusion 62 is located at the origin of the corresponding coordinate system of the reference unit 6.

[0083] Specifically, in addition to the first protrusions 61, the second protrusion 62 is arranged on the reference unit 6, and the second protrusion 62 is not in the two-dimensional plane formed by the first protrusions 61. Through such design, the second protrusion 62 and the plurality of first protrusions 61 form a three-dimensional structure, so that the second protrusion 62 and the plurality of first protrusions 61 can be used to determine the corresponding coordinate system of the reference unit 6.

[0084] As shown in FIG. 4, in addition to the three first protrusions 61, the second protrusion 62 is arranged on the reference unit 6, and the three first protrusions 61 form a two-dimensional plane, and the second protrusion 62 is outside the two-dimensional plane. In order to facilitate the establishment of the coordinate system, the distance between each two first protrusions 61 can be set to be the same distance, and the line connecting the second protrusion 62 and each first protrusion 61 is perpendicular to each other.

[0085] In the specific establishment process of the coordinate system, the second protrusion 62 is taken as the origin, and the line connecting the second protrusion 62 and each first protrusion 61 is taken as a coordinate axis, so as to obtain a three-dimensional rectangular coordinate system.

[0086] In the manufacturing, the second protrusion 62 can be processed by the same or different material as the first protrusion 61, and is inlaid into the reference unit base 63 of the reference unit 6.

[0087] Optionally, the positioning unit 5 is provided with a puncture channel 52 configured to provide a path for the puncture needle.

[0088] Specifically, as shown in FIG. 2, the puncture channel 52 is arranged on the positioning unit 5. After the device completes the automatic positioning of the lesion tissue, the mechanical arm 4 can move to the position of the lesion tissue, and automatically or manually by the doctor to complete the needle sending action through the puncture channel 52.

[0089] The puncture channel 52 is machined together with the groove 51 to ensure the accuracy of the puncture positioning.

[0090] Optionally, the mechanical arm 4 comprises a plurality of joints configured to rotate based on control instructions of the mechanical arm controller 2 or manually dragged by the operator to adjust the posture of the mechanical arm 4; the distance between the base and the end of the mechanical arm 4 is greater than a preset distance threshold.

[0091] Specifically, in order to ensure the flexibility of the mechanical arm 4, a plurality of joints can be provided, each of which can rotate, and the movement of the mechanical arm 4 can be realized through the cooperation of the plurality of joints. Among them, the mechanical arm 4 provides two movement modes: the first is the automatic mode, in which the computer 3 sends control instructions to the mechanical arm controller 2, and the mechanical arm controller 2 accordingly sends control instructions to the mechanical arm 4 to make the joints of the mechanical arm 4 rotate to realize the movement of the mechanical arm 4; the second is the manual mode, in which the operator can manually drag the mechanical arm 4 or manually rotate the joints of the mechanical arm 4 to realize the movement of the mechanical arm 4.

[0092] In addition, in order to ensure sufficient working space, the distance between the base and the end of the mechanical arm 4 should be large enough, for example, not less than 0.8 meters.

[0093] The positioning device for surgical operation provided by the embodiments of the present disclosure adopts a mechanical positioning method based on CT images, sets a positioning unit 5 on the mechanical arm 4 and a reference unit 6 on the operating bed, determines the relative position of the lesion tissue and the mechanical arm 4 according to the relative position of the positioning unit 5 and the mechanical arm 4, the relative position of the reference unit 6 and the lesion tissue, and the relative position of the reference unit 6 and the positioning unit 5, and then realizes the navigation positioning of the mechanical arm 4. On this basis, a plurality of grooves 51 are provided on the positioning unit 5, and a plurality of first protrusions 61 corresponding in shape and position to the grooves 51 are provided on the reference unit 6, which guarantees that the reference unit 6 and the positioning unit 5 will not displace when they are in close contact, thereby improving the accuracy of coordinate conversion. Moreover, the first protrusions 61 can also be used in combination with the second protrusions 62 to determine the coordinate system of the reference unit 6, and the determination method is simple and accurate. Finally, a plurality of joints are provided on the mechanical arm 4, and the posture of the mechanical arm 4 can be adjusted by rotating the joints, so that the positioning unit 5 and the reference unit 6 are in close contact. Moreover, the posture of the mechanical arm 4 can be determined by rotating the joints, and then the relative position between the base at the end of the mechanical arm 4 is determined, that is, the coordinate conversion relationship of the positioning unit 5 relative to the base is determined. Through simple mechanical design and coordinate conversion, the positioning of the lesion tissue can be realized, the calculation is simple and is not affected by the external environment, and high positioning accuracy and positioning efficiency can be guaranteed in any environment, which can be effectively popularized to primary hospitals.

[0094] Therefore, the embodiments of the present disclosure provide a positioning method for surgical operation to solve the problem that the related devices are easily affected by environmental metal and light, and ensure the accuracy and efficiency of positioning.

[0095] Referring to FIG. 7, FIG. 7 is a flow chart of a positioning method for a surgical operation provided by an embodiment of the present disclosure. As shown in FIG. 7, the positioning method for a surgical operation provided by the embodiment of the present disclosure comprises the following steps.

[0096] S101, receiving CT images of a patient on the operating table and a reference unit obtained by scanning the patient and the reference unit by a CT machine, and determining first coordinates of a lesion tissue in a coordinate system of the reference unit according to the CT images.

[0097] In this step, the CT scans the patient on the operating table and the reference unit, and the obtained CT images include both the lesion tissue of the patient and the reference unit, so that the relative position between the lesion tissue and the reference unit can be calculated. Then, the first coordinates in the coordinate system of the reference unit can be determined according to the relative position.

[0098] The coordinate system of the reference unit can be determined according to the plurality of first protrusions and the second protrusion. Referring to FIG. 8, FIG. 8 is a schematic diagram of a coordinate system of a positioning method for a surgical operation provided by an embodiment of the present disclosure. As shown in FIG. 8, in the coordinate system {Ref} of the reference unit, the ball center of the second protrusion 62 is the origin, and the connecting lines between the ball center of the second protrusion 62 and the ball center of each first protrusion 61 are respectively taken as a coordinate axis, i.e., the X-axis XRef, the Y-axis YRef and the Z-axis ZRef. According to the CT images, the first coordinates of the lesion tissue in the coordinate system {Ref} can be obtained. Ref P TAR .

[0099] S102, determining a target coordinate transformation relationship between the reference unit and the mechanical arm in the case that the reference unit and the positioning unit are attached.

[0100] In this step, the operator manually pulls the mechanical arm, changes the posture of the mechanical arm by rotating each joint on the mechanical arm, and further changes the position of the positioning unit, so that each groove of the positioning unit is completely attached to the corresponding first protrusion on the reference unit, to realize the attachment of the positioning unit at the end of the mechanical arm and the reference unit on the operating table.

[0101] Since the reference unit and the positioning unit are attached, the relative position of the reference unit and the positioning unit is determined, and the relative position between the reference unit and the mechanical arm can be determined, so as to obtain the target coordinate transformation relationship between the reference unit and the mechanical arm. Through the target coordinate transformation relationship, the coordinate transformation of a certain coordinate from the coordinate system {Ref} of the reference unit to the coordinate system {Bot} of the mechanical arm can be realized.

[0102] Wherein, since the base position of the mechanical arm is always unchanged, a coordinate system {Bot} of the mechanical arm can be set according to the base, and the coordinate system {Bot} is taken as a global coordinate system. As shown in FIG. 8, three coordinate axes of the coordinate system {Bot} are respectively denoted as XBot, YBot and ZBot.

[0103] S103, determining, according to the first coordinate and the target coordinate conversion relationship, a target coordinate of the lesion tissue in the coordinate system corresponding to the mechanical arm.

[0104] In this step, since the first coordinate Ref P TAR is a coordinate in the coordinate system {Ref} of the reference unit, the target conversion relationship obtained in the foregoing step can be used to convert the first coordinate Ref P TAR to the coordinate system {Bot} of the mechanical arm, to obtain a target coordinate Bot P TAR of the lesion tissue in the coordinate system {Bot} of the mechanical arm.

[0105] After obtaining the coordinate of the lesion tissue in the coordinate system {Bot} of the mechanical arm, the computer sends the target coordinate Bot P TAR to the mechanical arm controller, and the mechanical arm controller can control the mechanical arm to navigate and position, so that the end of the mechanical arm moves to the target coordinate, and then the surgery is performed at the position.

[0106] The positioning method for surgery provided by the embodiments of the present disclosure determines the relative position between the reference unit and the lesion tissue according to the CT image, that is, determines the first coordinate of the lesion tissue in the coordinate system of the reference unit; then, in the fitted state, the target coordinate conversion relationship between the coordinate system of the reference unit and the coordinate system of the mechanical arm is determined according to the relative position between the positioning unit and the reference unit and the relative position between the positioning unit and the mechanical arm, and then the first coordinate of the lesion tissue can be converted to the coordinate system of the mechanical arm to obtain the target coordinate of the lesion tissue in the coordinate system of the mechanical arm. Thereafter, the mechanical arm can be controlled to move by the mechanical arm controller, and the surgery can be performed at the target coordinate.

[0107] The present disclosure obtains the target coordinate of the lesion tissue in the coordinate system of the mechanical arm based on the relative position between the reference unit and the lesion tissue and the coordinate system conversion from the reference unit to the mechanical arm through the CT scanning image and mechanical principle, to realize the positioning of the lesion tissue. Compared with the positioning method in the related art, the present disclosure does not use electromagnetic equipment, and thus is not interfered by metal in the environment; in addition, the present disclosure also does not need to use the camera to shoot the reference object, and thus is not affected by the light and the blocked image, and has a lower requirement on the surgery environment, and can guarantee a high positioning accuracy and positioning efficiency when there is metal or insufficient light in the environment.

[0108] Optionally, referring to FIG. 9, FIG. 9 is a flow chart of a positioning method for surgery according to another embodiment of the present disclosure. As shown in FIG. 9, in step S102, a target coordinate transformation relationship between the reference unit and the robot arm is determined, including:

[0109] S201, determining a first coordinate transformation relationship between the reference unit and the positioning unit.

[0110] S202, obtaining robot arm posture information sent by the robot arm controller, and determining a second coordinate transformation relationship between the positioning unit and the robot arm according to the robot arm posture information.

[0111] S203, determining a target coordinate transformation relationship between the reference unit and the robot arm according to the first coordinate transformation relationship and the second coordinate transformation relationship.

[0112] In steps S201-S203, when the reference unit and the positioning unit are attached, since the relative positions of the reference unit and the positioning unit are known, and the relative position between the positioning unit and the robot arm is known, the target coordinate transformation relationship between the reference unit and the robot arm can be determined based thereon.

[0113] First, the first coordinate transformation relationship between the reference unit and the positioning unit is determined according to the relative position therebetween. Specifically, as shown in FIG. 8, a positioning coordinate system {OL} is arranged on the positioning unit, and three coordinate axes of the coordinate system are XOL, YOL and ZOL. In the attached state, the expression of the coordinate system {Ref} of the reference unit relative to the coordinate system {OL} of the positioning unit, i.e., the first coordinate transformation relationship, is obtained, denoted as

[0114] Second, since the positioning unit is fixed at the end of the robot arm, the robot arm posture information is obtained by the robot arm controller and sent to the computer, and then the second coordinate transformation relationship between the positioning unit and the robot arm is determined by the computer according to the robot arm posture information. For example, the rotation angle information of each joint of the robot arm can be obtained, and then the expression of the coordinate system {OL} of the positioning unit in the coordinate system {Bot} of the robot arm, i.e., the second coordinate transformation relationship, is obtained according to the rotation angle information of each joint, denoted as

[0115] Finally, the target coordinate transformation relationship can be calculated by using the first coordinate transformation relationship and the second coordinate transformation relationship

[0116] And the target coordinate can be calculated according to the first coordinate Bot P TAR and the target coordinate transformation relationship The calculation result is specifically expressed as:

[0117] Optionally, referring to FIG. 10, FIG. 10 is a flowchart of a positioning method for a surgical operation according to another embodiment of the present disclosure. As shown in FIG. 10, in step S201, a first coordinate conversion relationship between the reference unit and the positioning unit is determined, including:

[0118] S301, determining a second coordinate of the first protrusion in the coordinate system of the positioning unit according to the position of the first protrusion in the reference unit.

[0119] S302, determining the first coordinate conversion relationship between the reference unit and the positioning unit according to the second coordinate.

[0120] In steps S301-S302, since the relative positions of the first protrusion of the reference unit and the positioning unit are fixed and unchanged in the fitted state, the first coordinate conversion relationship between the reference unit and the positioning unit can be determined according to the position of the first protrusion of the reference unit.

[0121] As shown in the aforementioned FIG. 5, in the fitted state, the coordinates of the three first protrusions of the reference unit in the coordinate system {OL} of the positioning unit can be obtained, which are respectively denoted as OL B1( OL x B1 , OL y B1 , OL z B1 ), OL B2( OL x B2 , OL y B2 , OL z B2 ), OL B3( OL x B3 , OL y B3 , OL z B3 )。

[0122] Optionally, the distances from the three first protrusions to the second protrusion are all L, and the origin of the coordinate system {OL} of the positioning unit is on the plane formed by the three first protrusions. According to the principle of Cartesian coordinate transformation, the expression of the coordinate system {Ref} of the reference unit relative to the coordinate system {OL} of the positioning unit, that is, the first coordinate conversion relationship, is denoted as The specific expression is:

[0123] Referring to FIG. 11, FIG. 11 is a structural schematic diagram of a positioning device for surgical operation provided by an embodiment of the present disclosure. As shown in FIG. 11, the positioning device for surgical operation 100 comprises:

[0124] a lesion tissue coordinate acquisition module 110, configured to receive CT images obtained by scanning a patient on an operating table and a reference unit by a CT machine, and determine a first coordinate of a lesion tissue in a coordinate system of the reference unit according to the CT images;

[0125] a coordinate system conversion module 120, configured to determine a target coordinate conversion relationship between the reference unit and a mechanical arm in a case where the reference unit and a positioning unit are attached;

[0126] a lesion tissue positioning module 130, configured to determine a target coordinate of the lesion tissue in a coordinate system corresponding to the mechanical arm according to the first coordinate and the target coordinate conversion relationship.

[0127] Optionally, the coordinate system conversion module 120 is configured to:

[0128] determine a first coordinate conversion relationship between the reference unit and the positioning unit;

[0129] obtain mechanical arm posture information sent by a mechanical arm controller, and determine a second coordinate conversion relationship between the positioning unit and the mechanical arm according to the mechanical arm posture information;

[0130] determine the target coordinate conversion relationship between the reference unit and the mechanical arm according to the first coordinate conversion relationship and the second coordinate conversion relationship.

[0131] Optionally, the coordinate system conversion module 120 is configured to:

[0132] determine a second coordinate of the first protrusion in a coordinate system of the positioning unit according to a position of the first protrusion of the reference unit in the reference unit;

[0133] determine the first coordinate conversion relationship between the reference unit and the positioning unit according to the second coordinate.

[0134] The embodiment of the present disclosure further provides a computer readable storage medium, and the computer readable storage medium stores a computer program. When the computer program is run by a processor, the computer program can execute the steps of the positioning method for surgical operation in the method embodiments shown in FIG. 7 to FIG. 10. For details, refer to the method embodiments, which will not be described here.

[0135] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the system, device and unit described above can refer to the corresponding processes in the foregoing method embodiments, which will not be described here.

[0136] In several embodiments provided by the present disclosure, it should be understood that the disclosed system, device and method can be implemented in other manners. The described device embodiments are merely illustrative, for example, the division of the units is only a logical function division, and there can be another division manner in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units, or the among different units, can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0137] The units described as separated components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. In actual implementation, some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments of the present disclosure.

[0138] In addition, each functional unit in the various embodiments of the present disclosure can be integrated in one processing unit, or each unit can exist physically as a separate unit, or two or more units can be integrated in one unit.

[0139] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer readable storage medium of a processor. Based on this understanding, the technical solutions of the present disclosure, essentially or in part, or part of the technical solutions, can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present disclosure. The foregoing storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, and various other media that can store program codes.

[0140] It should be finally pointed out that the above-described embodiments are merely specific implementations of the present disclosure, used to illustrate the technical solutions of the present disclosure, rather than limit the same, and the protection scope of the present disclosure is not limited thereto. Although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that any person skilled in the art can make modifications or easily think of changes to the technical solutions described in the foregoing embodiments, or make equivalent replacements to some of the technical features within the technical scope disclosed by the present disclosure. Such modifications, changes or replacements do not cause the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims. Industrial applicability

[0141] By using the above scheme, the positioning of the lesion tissue can be realized through simple mechanical design and coordinate conversion. The calculation is simple and is not affected by the external environment. In any environment, high positioning accuracy and positioning efficiency can be ensured. It can be effectively promoted to primary hospitals, and the influence of environmental factors such as light intensity changes, shielding, metal, etc. on the navigation positioning accuracy is avoided. The problem that the related navigation positioning equipment is easily affected by environmental metal and light is effectively solved, and the accuracy and efficiency of positioning are ensured.

Claims

1. A positioning device for surgical procedures, characterized in that, The device comprises: a trolley; an operating module comprising a mechanical arm, one end of the mechanical arm being arranged on the trolley through a base, the base being configured to determine a coordinate system corresponding to the mechanical arm; a positioning module comprising a positioning unit and a reference unit, wherein the positioning unit is fixed at the end of the mechanical arm, and the reference unit is fixed on the operating table, and in the positioning process, the reference unit is attached to the positioning unit; a navigation module arranged on the trolley, comprising a mechanical arm controller and a computer, wherein the computer and the mechanical arm controller are communicatively connected, and the computer is configured to control the posture of the mechanical arm through the mechanical arm controller; the computer is further configured to collect a CT image, the CT image comprising a patient on the operating table and the reference unit, and the CT image is configured to determine a first coordinate of a lesion tissue of the patient in a coordinate system of the reference unit; the computer is further configured to determine a target coordinate conversion relationship between the reference unit and the mechanical arm; and according to the first coordinate and the target coordinate conversion relationship, a target coordinate of the lesion tissue in the coordinate system corresponding to the mechanical arm is determined.

2. The device according to claim 1, wherein a plurality of grooves are arranged on the positioning unit; a plurality of first protrusions are arranged on the reference unit; the first protrusions correspond one-to-one to the positions of the grooves, and when the positioning unit is attached to the reference unit, each first protrusion is attached to the corresponding groove.

3. The device according to claim 2, wherein a second protrusion is arranged on the reference unit, the second protrusion is not in a plane formed by any three first protrusions; the second protrusion and the first protrusion are configured to determine a coordinate system corresponding to the reference unit, and the second protrusion is located at the origin of the coordinate system corresponding to the reference unit.

4. The device according to claim 1, wherein a puncture channel is arranged on the positioning unit, configured to provide a path for a puncture needle.

5. The device according to claim 1, wherein the mechanical arm comprises a plurality of joints, the joints are configured to rotate based on control instructions of the mechanical arm controller, or rotate based on manual traction of an operator, to adjust the posture of the mechanical arm; the distance between the base and the end of the mechanical arm is greater than a preset distance threshold.

6. A positioning method for surgical procedures, characterized by, The method is applied to the computer in the device according to any one of claims 1 to 5, and the method comprises: receiving a CT image obtained by a CT scanner scanning a patient on the operating table and the reference unit, and determining a first coordinate of a lesion tissue in a coordinate system of the reference unit according to the CT image; determining a target coordinate conversion relationship between the reference unit and the mechanical arm when the reference unit and the positioning unit are attached; determining a target coordinate of the lesion tissue in a coordinate system corresponding to the mechanical arm according to the first coordinate and the target coordinate conversion relationship.

7. The method of claim 6, wherein, The determination of the target coordinate conversion relationship between the reference unit and the mechanical arm comprises: determining a first coordinate conversion relationship between the reference unit and the positioning unit; obtaining the mechanical arm posture information sent by the mechanical arm controller, and determining a second coordinate conversion relationship between the positioning unit and the mechanical arm according to the mechanical arm posture information; determining a target coordinate conversion relationship between the reference unit and the mechanical arm according to the first coordinate conversion relationship and the second coordinate conversion relationship.

8. The method of claim 7, wherein, The determination of the first coordinate conversion relationship between the reference unit and the positioning unit comprises: determining a second coordinate of the first protrusion in the coordinate system of the positioning unit according to the position of the first protrusion of the reference unit in the reference unit; determining the first coordinate conversion relationship between the reference unit and the positioning unit according to the second coordinate. The device is applied to a computer in the apparatus of any one of claims 1 to 5, and the device comprises:

9. A positioning device for surgical procedures, characterized in that a lesion tissue coordinate acquisition module configured to receive a CT image obtained by a CT machine scanning a patient on the operating table and the reference unit, and determine a first coordinate of the lesion tissue in the coordinate system of the reference unit according to the CT image; a coordinate system conversion module configured to determine a target coordinate conversion relationship between the reference unit and the mechanical arm when the reference unit and the positioning unit are attached; a lesion tissue positioning module configured to determine a target coordinate of the lesion tissue in the corresponding coordinate system of the mechanical arm according to the first coordinate and the target coordinate conversion relationship. The computer readable storage medium stores a computer program, and the computer program is run by the processor to execute the steps of the positioning method for surgical operation according to any one of claims 6 to 8.

10. A computer-readable storage medium, characterized in that, ​

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