WO2023040897A1 - 一种手术机器人的空间注册位姿计算方法和系统 - Google Patents

一种手术机器人的空间注册位姿计算方法和系统 Download PDF

Info

Publication number
WO2023040897A1
WO2023040897A1 PCT/CN2022/118745 CN2022118745W WO2023040897A1 WO 2023040897 A1 WO2023040897 A1 WO 2023040897A1 CN 2022118745 W CN2022118745 W CN 2022118745W WO 2023040897 A1 WO2023040897 A1 WO 2023040897A1
Authority
WO
WIPO (PCT)
Prior art keywords
navigator
pose
view
field
reference marker
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2022/118745
Other languages
English (en)
French (fr)
Inventor
张哲思
张今
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuhan United Imaging Healthcare Surgical Technology Co Ltd
Original Assignee
Wuhan United Imaging Healthcare Surgical Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202111072944.6A external-priority patent/CN113768627B/zh
Priority claimed from CN202210423164.XA external-priority patent/CN116965923A/zh
Application filed by Wuhan United Imaging Healthcare Surgical Technology Co Ltd filed Critical Wuhan United Imaging Healthcare Surgical Technology Co Ltd
Priority to EP22869266.1A priority Critical patent/EP4385448A4/en
Publication of WO2023040897A1 publication Critical patent/WO2023040897A1/zh
Priority to US18/605,763 priority patent/US20240217110A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A61B2034/2057—Details of tracking cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers

Definitions

  • This specification relates to the field of medical equipment, in particular to a method and system for computing a space registration pose of a surgical robot.
  • Surgical precision is critical to surgery.
  • various types of surgical robots have emerged one after another.
  • surgical robots can significantly improve surgical accuracy.
  • the operator before using the navigator of the surgical robot to detect and track the target object in real time, the operator usually needs to adjust the pose of the navigator to the desired state based on experience, which increases the workload of the medical staff and the cost of the operation and is inefficient .
  • One of the embodiments of this specification provides a space registration pose calculation method of a surgical robot, the method comprising: determining the target field of view of the navigator, and adjusting the pose of the navigator based on the target field of view, The spatial registration pose of the surgical robot is determined according to the target field of view and the pose of the instrument at the end of the robotic arm of the surgical robot.
  • the pose of the navigator is adjusted based on the target field of view, and the space of the surgical robot is determined according to the target field of view and the pose of the instrument at the end of the robotic arm of the surgical robot. Register the pose to avoid registration failure due to the end of the surgical robot’s robotic arm being outside the navigator’s field of view, and at the same time make the surgical robot’s end of the robotic arm within the navigator’s better field of view (ie, the target field of view) Within, improve registration accuracy.
  • an initial receptive field of the navigator is obtained, a spatial range constraint is obtained, and the initial receptive field is restricted according to the spatial range constraint to obtain a target field of view of the navigator.
  • the target field of view of the navigator can be quickly and accurately determined.
  • the spatial range constraints include at least one of robotic arm constraints, target object constraints, and navigator field of view constraints.
  • the obtaining the spatial range constraint condition, constraining the initial receptive field according to the spatial range constraint condition, and obtaining the target field of view of the navigator includes: establishing a method for describing the target field of view The target function of the spatial range; through the optimization calculation method, perform constraint calculation on the target function according to the constraints of the space range; determine the target field of view according to the target function after the constraint calculation.
  • the adjusting the pose of the navigator based on the target field of view includes: adjusting the pose of the navigator based on the target field of view includes: After the target field of view of the navigator is determined, the position of the navigator is adjusted according to the target field of view, so that the instrument at the end of the mechanical arm of the surgical robot is located within the target field of view.
  • the position of the navigator is adjusted according to the target field of view, so that the instrument at the end of the robotic arm of the surgical robot is within the target field of view, so that when the surgical robot is subsequently registered in space, The instrument at the end of the robotic arm of the surgical robot is always within the target field of view to avoid registration failures.
  • the determining the spatial registration pose of the surgical robot according to the target field of view, the target pose of the navigator, and the pose of the instrument at the end of the robotic arm of the surgical robot includes: obtaining the end of the robotic arm A plurality of position coordinates and a plurality of rotation poses of the instrument; according to the plurality of position coordinates and the plurality of rotation poses, the spatial registration pose of the surgical robot is determined.
  • multiple rotation postures can be quickly obtained.
  • obtaining the multiple rotation postures of the end-of-manipulator instrument includes: obtaining multiple initial rotation postures of the end-of-manipulator instrument; deflecting the multiple initial rotation postures to the same direction, Obtain the plurality of rotation poses.
  • the acquiring multiple initial rotation postures of the end-of-manipulator instrument includes: acquiring the maximum attitude range of the end-of-manipulator instrument; under the maximum attitude range, according to the The number of poses and/or the pose dispersion of the instrument determines a plurality of initial rotational poses of the end-of-arm instrument.
  • the method further includes: acquiring a conversion relationship between coordinate systems in the surgical robot.
  • adjusting the pose of the navigator based on the target field of view includes: before determining the spatial registration pose of the surgical robot, obtaining the position between the reference marker of the surgical robot and the target field of view of the navigator Relationship; generate pose adjustment data according to the positional relationship, and adjust the pose of the navigator based on the pose adjustment data, so that the reference marker falls within the target field of view of the navigator.
  • the position adjustment data can be generated relatively quickly and accurately according to the positional relationship, and the navigation can be adjusted according to the position adjustment data.
  • the position and orientation of the navigator can be adjusted to reduce the risk of spatial registration failure caused by the poor field of view of the navigator.
  • the generating pose adjustment data according to the positional relationship, and adjusting the pose of the navigator based on the pose adjustment data includes: determining the identification and the corresponding reference marker according to the positional relationship The relative position relationship graph and pose adjustment information between the markers corresponding to the target field of view, and the pose of the navigator is adjusted according to the relative position relationship graph and the pose adjustment information.
  • the pose adjustment data generated by the position relationship directly automatically adjusts the pose of the navigator without relying on manual experience to adjust the pose of the navigator, which not only improves the adjustment of the pose of the navigator At the same time, it also improves the efficiency of adjusting the pose of the navigator, and after adjustment, the reference marker of the surgical robot is located within the target field of view of the navigator, which can ensure the reference of the surgical robot during the subsequent space registration process. Markers are always within the field of view of the target, avoiding registration failures.
  • the adjusting the pose of the navigator according to the relative position relationship graph and the pose adjustment information includes: adjusting the pose of the navigator based on the pose adjustment information Adjusting, and obtaining a new positional relationship between the reference marker and the target field of view of the navigator; based on the new positional relationship, determining the identification corresponding to the reference marker and the target field of view The current relative position relationship diagram between the corresponding signs; if it is determined based on the current relative position relationship diagram that the reference marker is not within the target field of view, then based on the current relative position relationship diagram for the navigator The pose is adjusted so that the reference marker falls within the target field of view of the navigator.
  • the pose of the navigator is adjusted based on the pose adjustment information, and a new positional relationship between the reference marker and the target field of view of the navigator is acquired; based on the new positional relationship, the reference mark is determined The current relative position relationship diagram between the identification corresponding to the object and the identification corresponding to the target field of view; if it is determined based on the current relative position relationship diagram that the reference marker is not within the target field of view, then the pose of the navigator is determined based on the current relative position relationship diagram.
  • the positional relationship between the reference marker of the surgical robot and the target field of view of the navigator can be obtained more intuitively, so as to ensure that after the position of the navigator is adjusted, the position of the surgical robot Reference markers are located within the target field of view.
  • the reference markers include a first reference marker and a second reference marker
  • the pose adjustment data is generated according to the positional relationship
  • the navigator is adjusted based on the pose adjustment data
  • Adjusting the pose of the navigator includes: adjusting the pose of the navigator based on the target pose, so that the first reference marker falls within the first field of view area, and the second reference marker falls within the In the second field of view area; wherein, the first reference marker and the second reference marker are respectively located in different parts of the surgical robot, and the second field of view area is the target field of view or is located in the target field of view Within the target field of view, the first field of view is located within the target field of view.
  • the reference markers include a first reference marker and a second reference marker
  • the pose adjustment data is generated according to the positional relationship
  • the navigator is adjusted based on the pose adjustment data
  • Adjusting the pose of the navigator includes: adjusting the pose of the navigator based on the pose adjustment data, so that the first reference marker falls within the first field of view area;
  • the pose of the instrument at the end of the robotic arm is adjusted so that the second reference marker set at the end of the mechanical arm falls within the second field of view; wherein the first reference marker is set at the surgical On the operating trolley or the target object of the robot, the second reference marker is arranged on the end of the mechanical arm of the surgical robot, the second field of view area is the target field of view range, and the first field of view area located inside the second field of view area.
  • the pose of the navigator is adjusted based on the pose adjustment data so that the first reference marker falls within the first field of view area, so that in the subsequent spatial registration process, the first reference marker It is always within the target field of view; after the pose adjustment of the navigator is completed, the pose of the device at the end of the mechanical arm is adjusted based on the pose adjustment data, so that the second device set at the end of the robotic arm can be quickly and accurately The reference marker falls within the second field of view area, which ensures the successful completion of the subsequent space registration and avoids the risk of space registration failure caused by the poor field of view of the navigator.
  • the method further includes: displaying the relative position relationship diagram in a first display area, and displaying the target pose in a second display area.
  • the method further includes: acquiring pose information of the navigator through a pose monitoring device; generating adjustment feedback information based on the pose information of the navigator; the adjustment feedback information includes the The moving distance information and moving speed information of the navigator; the adjustment feedback information is displayed on the display interface.
  • the adjustment feedback information is displayed on the display interface, which can provide a reference for users (for example, doctors, nurses, etc.) to further judge the adjustment effect of the pose of the navigator.
  • the acquiring the positional relationship between the reference marker of the surgical robot and the target field of view includes: acquiring the position information of the reference marker of the surgical robot relative to the navigator; acquiring the The target field of view of the navigator; calculating the positional relationship between the reference marker and the target field of view based on the position information.
  • One of the embodiments of this specification provides a space registration pose calculation system of a surgical robot, the system includes: a range determination module, used to determine the target field of view range of the navigator; a pose determination module, used to determine the range based on the target field of view range, to adjust the pose of the navigator; the pose registration module is used to determine the pose of the surgical robot according to the target field of view, the target pose of the navigator, and the initial pose of the end-of-manipulator instrument of the surgical robot. Spatial registration pose.
  • One of the embodiments of the present specification provides an apparatus for calculating a spatial registration pose of a surgical robot, including a processor configured to execute the above-mentioned method for calculating a spatial registration pose of a surgical robot.
  • One of the embodiments of this specification provides a computer-readable storage medium, the storage medium stores computer instructions, and after the computer reads the computer instructions in the storage medium, the computer executes the above-mentioned spatial registration pose calculation method of the surgical robot.
  • One of the embodiments of this specification provides a method for obtaining the receptive field of a visual navigator, including: obtaining the first receptive field of the navigator in the surgical robot; The field is constrained to obtain the second receptive field of the navigator.
  • the spatial range constraints include at least one of robotic arm constraints, patient constraints, and navigator field of view constraints.
  • the obtaining the spatial range constraint condition, constraining the first receptive field according to the spatial range constraint condition, and obtaining the second receptive field of the navigator includes: establishing a method for describing the first receptive field An objective function of the spatial range of the receptive field; performing constraint calculation on the objective function according to the constraints of the spatial range through an optimization calculation method; determining the second receptive field according to the objective function after the constraint calculation.
  • the method includes: adjusting the position of the navigator according to the second receptive field, so that the instrument at the end of the robotic arm of the surgical robot located in the second receptive field.
  • One of the embodiments of this specification provides a method for calculating the spatial registration pose of a surgical robot, including: obtaining the first receptive field of the navigator in the surgical robot; obtaining a spatial range constraint condition, and calculating the first sensory field according to the spatial range constraint condition A receptive field is constrained to obtain a second receptive field of the navigator; combined with the second receptive field and the pose of the instrument at the end of the robotic arm of the surgical robot, the spatial registration pose of the surgical robot is determined.
  • the combination of the second receptive field and the pose of the instrument at the end of the robotic arm of the surgical robot to determine the spatial registration pose of the surgical robot includes: acquiring the robotic arm of the surgical robot A plurality of position coordinates and rotation postures of the end instrument, the plurality of rotation postures constitute a target direction set of the end instrument of the mechanical arm; according to the plurality of position coordinates and the plurality of rotation postures in the target direction set, determine the set The spatial registration pose of the surgical robot, wherein the position coordinates correspond to the rotation pose.
  • the acquisition of multiple position coordinates and rotation poses of the end-of-manipulator instrument of the surgical robot, where the plurality of rotation poses constitute the target orientation set of the end-of-manipulator instrument includes: acquiring the mechanical An initial orientation set of the end-of-arm instrument, where the initial orientation set includes multiple initial rotation postures; deflecting the multiple initial rotation attitudes in the initial orientation set to the same direction to obtain the target orientation set of the end-of-arm instrument .
  • the acquiring the initial orientation set of the end-of-manipulator instrument includes: acquiring the maximum attitude range of the end-of-manipulator instrument recognized by the navigator; under the maximum attitude range, according to the The number of poses and/or the pose dispersion of the end-tool determines the initial set of orientations for the end-tool.
  • the method before obtaining the spatial range constraints and constraining the first receptive field according to the spatial range constraints to obtain the second receptive field of the navigator, the method further includes: Obtain the conversion relationship between the various coordinate systems in the surgical robot, wherein the coordinate system of the surgical robot includes at least some of the following coordinate systems: mechanical arm coordinate system, navigator coordinate system, mechanical arm end coordinate system And the sensor coordinate system at the end of the manipulator.
  • One of the embodiments of this specification provides a surgical robot, including a navigator, a robotic arm, and a processor: the processor acquires the first receptive field of the navigator; the processor acquires the spatial range constraints, and according to the The spatial range constraints restrict the first receptive field to obtain the second receptive field of the navigator.
  • One of the embodiments of this specification provides a device for acquiring the receptive field of a visual navigator, including an acquisition module and a constraint module: the acquisition module is used to acquire the first receptive field of the navigator in the surgical robot; the constraint module is used for A spatial range constraint condition is acquired, and the first receptive field is restricted according to the spatial range constraint condition to obtain a second receptive field of the navigator.
  • One of the embodiments of this specification provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the method for obtaining the receptive field of the visual navigator or the spatial registration of the surgical robot Pose calculation method.
  • One of the embodiments of this specification provides a storage medium, where a computer program is stored in the storage medium, wherein the computer program is configured to execute the method for acquiring the receptive field of the visual navigator or the space of the surgical robot during operation. Steps to register a pose calculation method.
  • One of the embodiments of the present specification provides a method for adjusting the pose of an optical navigator, the method comprising: acquiring a reference marker of a surgical robot navigation and positioning system and a target field of view area of the optical navigator of the surgical robot navigation and positioning system positional relationship among them; generate pose adjustment data according to the positional relationship, and adjust the pose of the optical navigator based on the pose adjustment data, so that the reference marker falls on the optical navigation within the target field of view of the instrument.
  • the pose adjustment data is generated according to the position relationship, and the pose of the optical navigator is adjusted based on the pose adjustment data, so that the reference marker falls on the In the target field of view area of the optical navigator, it includes: according to the positional relationship, determining the relative position relationship between the mark corresponding to the reference marker and the mark corresponding to the target field of view; based on the relative position The relationship diagram adjusts the pose of the optical navigator so that the reference marker falls within the target field of view of the optical navigator.
  • the pose adjustment data is generated according to the position relationship, and the pose of the optical navigator is adjusted based on the pose adjustment data, so that the reference marker falls on the In the target field of view area of the optical navigator, it also includes: determining the pose adjustment information of the optical navigator according to the positional relationship; adjusting the pose of the optical navigator based on the pose adjustment information, so that the reference marker falls within the target field of view of the optical navigator.
  • the pose adjustment data is generated according to the position relationship, and the pose of the optical navigator is adjusted based on the pose adjustment data, so that the reference marker falls on the In the target field of view area of the optical navigator, it also includes: according to the positional relationship, determining a relative position relationship diagram between the mark corresponding to the reference marker and the mark corresponding to the target field of view area, and the optical The pose adjustment information of the navigator; adjust the pose of the optical navigator based on the relative position relationship diagram and the pose adjustment information, so that the reference marker falls on the target of the optical navigator within the field of view.
  • the pose of the optical navigator is adjusted based on the relative position relationship graph and the pose adjustment information, so that the reference marker falls on the target of the optical navigator In the field of view area, including: adjusting the pose of the optical navigator based on the pose adjustment information, and obtaining a new position between the reference marker and the target field of view area of the optical navigator relationship; based on the new positional relationship, determine the current relative position relationship diagram between the identification corresponding to the reference marker and the identification corresponding to the target field of view area; if the current relative position relationship diagram is determined based on the current relative position relationship diagram If the reference marker is not in the target field of view area, the pose of the optical navigator is adjusted based on the current relative position relationship diagram, so that the reference marker falls on the target visual field of the optical navigator. within the field area.
  • the adjusting the pose of the optical navigator based on the pose adjustment data so that the reference marker falls within the target field of view of the optical navigator includes: Adjusting the pose of the optical navigator based on the pose adjustment data so that the first reference marker falls within the first field of view area and the second reference marker falls within the second field of view area ;
  • the first reference marker is set on the operating trolley of the surgical robot navigation and positioning system or on the object to be detected
  • the second reference marker is set on the end of the mechanical arm of the surgical robot navigation and positioning system, so The first field of view area is located inside the second field of view area.
  • the adjusting the pose of the optical navigator based on the pose adjustment data so that the reference marker falls within the target field of view of the optical navigator includes: Adjust the pose of the optical navigator based on the pose adjustment data so that the first reference marker falls within the first field of view area; adjust the pose of the end of the mechanical arm based on the pose adjustment data Adjusting so that the second reference marker set at the end of the mechanical arm falls within the second field of view; wherein the first reference marker is set on the operating trolley or the object to be detected of the surgical robot navigation and positioning system Above, the second reference marker is set at the end of the robotic arm of the surgical robot navigation and positioning system, and the first field of view area is located inside the second field of view area.
  • the method further includes: displaying the relative position relationship diagram in a first display area, and displaying the pose adjustment information in a second display area.
  • the method further includes: acquiring the pose information of the reference marker through a pose monitoring device set on the optical navigator; generating an adjustment based on the pose information of the reference marker Feedback information; the adjustment feedback information includes moving distance information and moving speed information of the reference marker; displaying the adjustment feedback information on a display interface.
  • the obtaining the positional relationship between the reference marker of the surgical robot navigation and positioning system and the target field of view area of the optical navigator of the surgical robot navigation and positioning system includes: obtaining the positional relationship between the surgical robot navigation and positioning system The position information of the reference marker relative to the optical navigator of the surgical robot navigation and positioning system; obtaining the target field of view area of the optical navigator; calculating the distance between the reference marker and the optical navigator based on the position information The positional relationship between target field of view areas.
  • One of the embodiments of this specification provides a posture adjustment system of an optical navigator, the system includes a reference marker, an optical navigator, and a computer device, and the optical navigator communicates with the computer device, wherein: the The optical navigator is used to collect the position information of the reference marker, and send the position information to the computer device; the computer device is used to calculate the relationship between the reference marker and the The positional relationship between the target field of view areas of the optical navigator; generate pose adjustment data according to the positional relationship, and adjust the pose of the optical navigator based on the pose adjustment data, so that the reference The marker falls within the target field of view area of the optical navigator.
  • the reference markers include a first reference marker and a second reference marker
  • the first reference marker is set on the operating trolley of the surgical robot navigation and positioning system or the object to be detected
  • the The second reference marker is arranged at the end of the mechanical arm of the surgical robot navigation and positioning system.
  • the system further includes a display, the display is used to display the pose adjustment data; the pose adjustment data includes at least one of a relative position relationship diagram and pose adjustment information, the The pose adjustment data is determined based on the positional relationship.
  • One of the embodiments of this specification provides a computer device, including a memory and a processor, the memory stores a computer program, and it is characterized in that, when the processor executes the computer program, the above-mentioned pose adjustment method of the optical navigator is realized .
  • One of the embodiments of the present specification provides a computer-readable storage medium, on which a computer program is stored, wherein, when the computer program is executed by a processor, the above method for adjusting the pose of the optical navigator is realized.
  • Fig. 1 is a schematic diagram of an application scenario of a space registration pose calculation system of a surgical robot according to some embodiments of the present specification
  • Fig. 2 is an exemplary flow chart of a method for calculating a spatial registration pose of a surgical robot according to some embodiments of the present specification
  • Fig. 3 is an exemplary flow chart of determining the target field of view of a navigator according to some embodiments of the present specification
  • Fig. 4 is an exemplary flow chart of obtaining the target field of view of the navigator by constraining the initial receptive field according to the spatial range constraints according to some embodiments of the present specification;
  • Fig. 5 is a schematic diagram of a receptive field according to some embodiments of the present specification.
  • Fig. 6 is an exemplary flow chart of determining the spatial registration pose of a surgical robot according to some embodiments of the present specification
  • Fig. 7 is an exemplary flow chart of determining the registration pose of the surgical robot based on the conversion relationship between the various coordinate systems in the surgical robot according to some embodiments of the present specification;
  • Fig. 8 is a block diagram of the hardware structure of the terminal according to the method for acquiring the receptive field of the visual navigator shown in some embodiments of this specification;
  • Fig. 9 is a structural block diagram of a visual navigator receptive field acquisition device according to some embodiments of this specification.
  • Fig. 10 is an exemplary flow chart of determining the target pose 500 of the navigator according to the target field of view according to some embodiments of the present specification
  • Fig. 11 is an exemplary flowchart for calculating the positional relationship between the reference marker and the target field of view based on the position information of the reference marker of the surgical robot relative to the navigator according to some embodiments of the present specification;
  • Fig. 12 is an exemplary flow chart of generating pose adjustment information based on a relative position relationship graph and adjusting the pose of the navigator according to the pose adjustment information according to some embodiments of the present specification;
  • Fig. 13 is an exemplary flow chart of adjusting the pose of an optical navigator based on pose adjustment information according to some embodiments of the present specification
  • Fig. 14 is an exemplary flowchart of adjusting the pose of the navigator based on the relative position relationship graph and pose adjustment data according to some embodiments of the present specification
  • Fig. 15 is an exemplary flow chart of adjusting the pose of the navigator based on the relative position relationship diagram and pose adjustment information according to some embodiments of the present specification
  • Figure 16 is a schematic diagram of reference markers shown according to some embodiments of the present specification.
  • Fig. 17 is a schematic diagram of a first viewing field area and a second viewing field area according to some embodiments of the present specification
  • Fig. 18 is an exemplary flow chart of adjusting the pose of the navigator based on pose adjustment data according to some embodiments of the present specification
  • Fig. 19 is a schematic diagram of a display interface according to some embodiments of the present specification.
  • Fig. 20 is a schematic diagram of a display interface according to other embodiments of the present specification.
  • Fig. 21 is an exemplary flow chart of generating and displaying adjustment feedback information based on the pose information of the navigator according to some embodiments of the present specification
  • Fig. 22 is a schematic diagram of a fourth display area according to some embodiments of the present specification.
  • Fig. 23 is a block diagram of a server according to some embodiments of the specification.
  • system means for distinguishing different components, elements, parts, parts or assemblies of different levels.
  • the words may be replaced by other expressions if other words can achieve the same purpose.
  • Fig. 1 is a schematic diagram of an application scenario 100 of a space registration pose calculation system for a surgical robot according to some embodiments of the present specification.
  • an application scenario 100 may include a processing device 110 , a network 120 , a user terminal 130 , a storage device 140 and a surgical robot 150 .
  • the application scenario 100 can implement the space registration pose calculation of the surgical robot by implementing the method and/or process disclosed in this specification.
  • the processing device 110 may be used to process information and/or data related to spatially registered pose calculations of the surgical robot. For example, the processing device 110 may determine the target field of view of the navigator 151 of the surgical robot 150, adjust the pose of the navigator 151 based on the target field of view, and adjust the pose of the navigator 151 based on the target field of view and the pose of the end instrument of the robotic arm 152 of the surgical robot 150. , to determine the spatial registration pose of the surgical robot 150 . For another example, the processing device 110 may acquire the initial receptive field of the navigator 151 and the spatial range constraints, and constrain the initial receptive field according to the spatial range constraints to obtain the target field of view of the navigator 151 .
  • the processing device 110 may obtain the positional relationship between the end instruments of the robotic arm 152 of the surgical robot 150 and the target field of view of the navigator 151, generate pose adjustment data according to the positional relationship, and control the navigator 151 according to the pose adjustment data. Get in position.
  • processing facility 110 may be regional or remote.
  • the processing device 110 can access information and/or data stored in the user terminal 130 , the storage device 140 and the surgical robot 150 through the network 120 .
  • the processing device 110 may be directly connected to the user terminal 130, the storage device 140 and the surgical robot 150 to access information and/or materials stored therein.
  • processing device 110 may include a processor.
  • the processor may process data and/or information related to spatially registered pose calculations of the surgical robot to perform one or more of the functions described herein.
  • the processor may receive a space registration pose calculation request signal of the surgical robot sent by the user terminal 130 or the surgical robot 150 , and send a control instruction to the surgical robot 150 to control the navigator 151 to perform positioning.
  • the processing device 110 may include a range determination module, a pose determination module, and a pose registration module.
  • the range determination module can be used to determine the target field of view range of the navigator.
  • the range determination module may obtain the initial receptive field of the navigator 151 and obtain the spatial range constraints, constrain the initial receptive field according to the spatial range constraints, and obtain the target field of view of the navigator 151 .
  • the pose determination module can be used to adjust the pose of the navigator 151 according to the target field of view.
  • the pose determination module can obtain the positional relationship between the end instruments of the robotic arm 152 of the surgical robot 150 and the target field of view of the navigator 151, generate pose adjustment data according to the positional relationship, and then adjust the position based on the pose adjustment data.
  • the pose of the navigator 151 is adjusted so that the reference marker falls within the target field of view of the navigator 151 .
  • the pose registration module can be used to determine the spatial registration pose of the surgical robot 150 according to the target field of view and the initial pose of the instrument at the end of the robotic arm 152 of the surgical robot 150 .
  • the pose registration module can obtain multiple pose pairs of the terminal instrument of the robotic arm 152, wherein the pose pair includes a position coordinate and at least one rotation pose corresponding to the position coordinate; according to the multiple pose pairs, The spatial registration pose of the surgical robot 150 is determined.
  • the above description of the processing device 110 and its modules is only for convenience of description, and does not limit this description to the scope of the illustrated embodiments. It can be understood that, after understanding the principle of the processing device 110, those skilled in the art may combine various modules arbitrarily, or form a subsystem to connect with other modules without departing from this principle.
  • the range determination module, pose determination module, and pose registration module disclosed in Figure 1 can be different modules in one system, or one module can realize the functions of the above two or more modules .
  • each module may share one storage module, or each module may have its own storage module. Such deformations are within the protection scope of this specification.
  • Network 120 may facilitate the exchange of data and/or information in application scenario 100 .
  • one or more components in the application scene 100 can send data and/or information to the application scene 100 through the network 120 of other components.
  • the field of view of the navigator acquired by the surgical robot 150 may be transmitted to the processing device 110 through the network 120 .
  • the network 120 may be any one or more of a wired network or a wireless network.
  • network 120 may include one or more network access points.
  • network 120 may include wired or wireless network access points, such as base stations and/or network switching points, through which one or more components of application scenario 100 may connect to network 120 to exchange data and/or or information.
  • the user terminal 130 may input and/or output relevant information or data. Users can obtain relevant information or data through the user terminal 130 . For example, the user may acquire the determined spatial registration pose of the surgical robot 150 from the processing device 110 through the user terminal 130 .
  • the user terminal 130 may include, but is not limited to, a smart phone, a tablet computer, a laptop computer, a desktop computer, and the like.
  • Storage device 140 may store material and/or instructions.
  • the storage device 140 can store data and/or instructions acquired from the processing device 110 , the user terminal 130 and the surgical robot 150 .
  • storage device 140 may store information and/or instructions for execution or use by processing device 110 to perform the exemplary methods described herein. For example, processing device 110 may execute according to instructions stored by storage device 140 .
  • the storage device 140 may be connected to the network 120 to realize communication with one or more components of the application scene 100 (eg, the processing device 110 , the user terminal 130 , and the surgical robot 150 , etc.).
  • One or more components of the application scene 100 can access the data or instructions stored in the storage device 140 through the network 120 to determine the target field of view of the navigator 151 of the surgical robot 150, and adjust the pose of the navigator 151, according to the target field of view
  • the spatial registration pose of the surgical robot 150 is determined based on the range and the pose of the end instrument of the robotic arm 152 of the surgical robot 150 .
  • the storage device 140 may directly connect or communicate with one or more components in the application scenario 100 (eg, the processing device 110 , the user terminal 130 , and the surgical robot 150 , etc.).
  • the surgical robot 150 may be a device for assisting surgery, for example, the surgical robot may assist a doctor in neurosurgery, orthopedic surgery, and the like.
  • the surgical robot 150 can detect and track target objects in real time during surgery (for example, the site of the target object to be operated, instruments at the end of the robotic arm 152 , etc.), so as to assist doctors in surgical operations.
  • the surgical robot 150 includes a navigator 151 , a robotic arm 152 , a target object supporting device 153 (eg, a scanning table, an operating table, an operating trolley, etc.), and reference markers (not shown in the figure).
  • the navigator is used to acquire the position of the instrument at the end of the robotic arm 152 of the surgical robot and the position of the site to be operated on the target object support device 153 .
  • the navigator 151 may include an optical navigator, an electromagnetic navigator, etc., wherein the optical navigator includes a binocular optical navigator, a three-eye optical navigator, a structured light navigator, and the like.
  • the robotic arm 152 may be a device for placing an instrument, and the instrument may be disposed at the end of the robotic arm 152, wherein the instrument may be a reference marker (eg, a second reference marker), a surgical instrument, or the like.
  • the reference marker on the end of the robotic arm 152 may be an easily identifiable optical marker. For example, optical spheres that reflect near-infrared light.
  • the reference marker may be disposed on the surgical instrument at the end of the robotic arm 152 .
  • Target objects may include human bodies, animals, phantoms, and the like.
  • the target object to be operated on the target object supporting device 153 may include but not limited to the head, limbs, abdomen, etc., and the target object on the target object supporting device 153 is provided with reference markers.
  • reference markers may be provided on the site to be operated on of the target object.
  • the surgical robot 150 before the surgical robot 150 performs assisted surgery on the target object on the target object supporting device 153, it needs to first perform spatial registration on the mechanical arm 152 within the target field of view, and use the navigator 151 to monitor the mechanical arm 152.
  • Arm 152 end instruments for example, reference markers
  • the real-time pose of the part to be operated is used to match the position of the instrument at the end of the robotic arm 152 with the position of the part to be operated on the target object on the support device 153 to improve the accuracy of the operation.
  • both the reference marker on the end of the robotic arm 152 and the reference marker on the target object need to be kept within the field of view of the navigator 151 .
  • the reference marker on the target object needs to be located in an optimal small range (for example, the first field of view area) within the field of view of the navigator 151.
  • the position within the field of view of the meter 151 may not be limited.
  • the reference marker on the end of the robotic arm 152 needs to be located within an optimal small range within the field of view of the navigator 151, for example, the reference marker on the end of the robotic arm 152 needs to be located within a range based on the spatial range constraints.
  • An optimal small range within the field of view of the navigator 151 is determined, and the position of the reference marker on the target object within the field of view of the navigator 151 may not be limited.
  • both the reference marker on the end of the mechanical arm 152 and the reference marker on the target object need to be kept within the target field of view of the navigator 151, and the target field of view can be the entire field of view of the navigator 151, or It may be an area within the field of view of the navigator 151 .
  • the navigator 151 can obtain the position and orientation of the terminal instrument of the robotic arm 152 at all times, thereby preventing the terminal instrument of the robotic arm 152 from exceeding the receptive field of the navigator 151, resulting in registration failure.
  • the target object on the target object supporting device 153 for example, a scanning bed, an operating bed, etc.
  • the target objects on the target object support device 153 include but not limited to the head, limbs, abdomen, etc., and sensors that can be captured by the navigation instrument are fixed on the surface of the target objects.
  • the navigation instrument has a fixing device, and the dotted line area 1511 represents the receptive field (also called the initial receptive field) of the navigator 151 .
  • There is an end instrument on the robotic arm 152 and the end instrument may be a sensor capable of capturing a three-dimensional position by a navigation instrument. Based on the three-dimensional position, a coordinate system of the end instrument of the robotic arm can be established.
  • the pose of the navigator 151 can be adjusted based on the target field of view. By automatically adjusting the pose of the navigator 151 , the pose of the navigator 151 is adjusted without relying on manual experience, which improves the accuracy and efficiency of adjusting the pose of the navigator 151 .
  • the spatial registration pose of the surgical robot 150 can be determined according to the target field of view and the pose of the instrument at the end of the robotic arm of the surgical robot. By determining the spatial registration pose according to the target field of view and the pose of the instrument at the end of the robotic arm of the surgical robot, it is possible to prevent the instrument at the end of the robotic arm 152 from exceeding the receptive field of the navigator 151, resulting in registration failure and improving the success rate of registration.
  • the operator it is usually necessary for the operator to adjust the pose of the navigator to the desired state based on experience.
  • the navigator When the navigator is not properly positioned, it will often cause the surgical robot to perform spatial registration. Or the situation that the site to be operated on of the target object is located outside the field of view of the navigator, the real-time detection and tracking of the device at the end of the mechanical arm and/or the site to be operated on of the target object cannot be realized. Therefore, it is necessary to provide a method for calculating the spatial registration pose of the surgical robot, which is used to determine the optimal pose of the navigator and improve the accuracy and efficiency of the surgical robot for spatial registration.
  • Fig. 2 is an exemplary flowchart of a method 200 for calculating a space registration pose of a surgical robot according to some embodiments of the present specification.
  • the spatial registration pose calculation method 200 of the surgical robot includes the following steps.
  • the spatial registration pose calculation method 200 of the surgical robot may be executed by the processing device 110 .
  • Step 210 determine the target visual range of the navigator.
  • step 210 may be performed by a range determination module.
  • the target field of view may be the space in which the device at the end of the robotic arm can move during the process of registering poses.
  • the movement of the reference marker on the end of the manipulator and the reference marker on the part to be operated on the target on the support of the target needs to be constrained to the target Only within the field of view can be acquired by the navigator at any movement moment.
  • the target field of view may also be referred to as a second receptive field.
  • the range determination module may determine the target field of view range of the navigator in any manner.
  • the target field of view of the navigator is determined manually (for example, by a doctor).
  • the range determination module can obtain the initial receptive field of the navigator, obtain the spatial range constraints, constrain the initial receptive field according to the spatial range constraints, and obtain the target field of view of the navigator.
  • constraining the initial receptive field according to the constraints of the spatial range to obtain the target field of view of the navigator please refer to FIG. 3 and its related descriptions, and details will not be repeated here.
  • Step 220 adjust the pose of the navigator based on the target field of view.
  • step 220 may be performed by a pose determination module.
  • the pose determination module may adjust the pose of the navigator based on the target field of view, so that the reference marker of the surgical robot is located within the target field of view.
  • the pose determination module can adjust the pose of the navigator based on the target field of view in any manner. For example, manually adjust the pose of the navigator based on the target field of view.
  • the pose determination module can obtain the positional relationship between the reference marker of the surgical robot and the target field of view of the navigator, generate pose adjustment data according to the positional relationship, and adjust the navigation based on the pose adjustment data. Adjust the pose of the navigator so that the reference marker falls within the target field of view of the navigator. For more descriptions of adjusting the pose of the navigator according to the positional relationship between the reference marker of the surgical robot and the target field of view of the navigator, refer to FIG. 10 and its related descriptions, which will not be repeated here.
  • Step 230 Determine the spatial registration pose of the surgical robot according to the target field of view and the pose of the instrument at the end of the robotic arm of the surgical robot.
  • step 230 may be performed by a pose registration module.
  • the spatial registration pose of the surgical robot is the pose of the end-of-manipulator instrument of the surgical robot for spatial registration, and the spatial registration pose of the surgical robot may include the position coordinates and rotation posture of the end-of-manipulator instrument of the surgical robot.
  • the position coordinates may be coordinates in a certain coordinate system of the surgical robot, for example, the position coordinates may be a coordinate in a navigator coordinate system, which may be represented by (x, y, z).
  • the position coordinates may also be coordinates in other coordinate systems of the surgical robot (for example, a mechanical arm coordinate system, a mechanical arm end coordinate system, a mechanical arm end sensor coordinate system, etc.).
  • the rotation attitude is the angle or orientation of the end-of-manipulator instrument relative to the coordinate axis under the position coordinates, which can be represented by equivalent rotation vectors, Euler angles, rotation matrices, and attitude quaternions.
  • the instrument at the end of the robotic arm is always within the target field of view.
  • the processor of the surgical robot can be based on the path planning algorithm (for example, LPA* (Lifelong Planning A*) algorithm, D*Lite algorithm, etc.) ) to determine at least one registration path within the target field of view, wherein the registration path may be composed of multiple location points, and each location point corresponds to a spatial registration pose.
  • the pose registration module can control the end-of-manipulator instrument to move along the registration path, determine the spatial coordinate transformation relationship of at least one component of the surgical robot (for example, the end-of-manipulator instrument, target object, navigator, etc.), and complete the space of the surgical robot. register.
  • the pose of the end-of-manipulator instrument used to determine the spatial registration pose of the surgical robot can be the preset initial pose of the end-of-manipulator instrument, or it can be adjusted based on the target field of view.
  • the pose of the end-of-manipulator device used to determine the spatial registration pose of the surgical robot can be the preset initial pose of the end-of-manipulator instrument, or it can be adjusted based on the target field of view.
  • the pose registration module can obtain multiple position coordinates and multiple rotation poses of the instrument at the end of the mechanical arm, and determine the spatial registration pose of the surgical robot according to the multiple position coordinates and multiple rotation poses. For more descriptions of determining the spatial registration pose of a surgical robot, refer to FIG. 6 and its related descriptions, and will not repeat them here.
  • the target pose of the navigator is determined according to the target field of view, and according to the target field of view, the target pose of the navigator, and the pose of the instrument at the end of the robotic arm of the surgical robot, Determine the spatial registration pose of the surgical robot to avoid registration failure due to the end-of-manipulator device of the surgical robot being located outside the field of view of the navigator, and at the same time make the end-of-manipulator device of the surgical robot within the better field of view of the navigator ( That is, within the target field of view) to improve the registration accuracy.
  • a surgical robot is usually used to assist the completion of the operation. Before the operation, the surgical robot needs to be registered in space.
  • the purpose of spatial registration of the surgical robot is to obtain the multi-space coordinate conversion relationship of the end-of-manipulator instrument, the target object, and the navigator.
  • the coordinate conversion relationship is a prerequisite for the normal operation of the surgical robot.
  • the spatial registration method of the surgical robot is as follows: before the formal operation, the spatial registration is realized by controlling the mechanical arm of the surgical robot to move within the receptive field of the navigator according to a designated registration trajectory. However, during the operation, the receptive field of the navigator needs to be adjusted accordingly, and then the relative positional relationship between the navigator and the base of the robotic arm will change. If the registration trajectory of the robotic arm is not adjusted accordingly after the relationship between the two is changed, the sensor with the instrument at the end of the robotic arm may exceed the receptive field range of the navigator, resulting in failure of the surgical robot space registration and affecting the surgical process.
  • the initial receptive field can be adjusted through the spatial range constraints related to the range of motion of the manipulator, so as to obtain the second feeling that enables the navigator to obtain the position of the manipulator at all times Field, so as to avoid the device at the end of the robotic arm exceeding the receptive field range of the navigator, resulting in registration failure. It solves the problem in the related art that the spatial registration of the surgical robot before the operation easily causes the sensor of the end instrument of the manipulator to exceed the receptive field of the navigator, and realizes that the end instrument of the manipulator arm of the surgical robot remains within the field of view of the navigator, improving Registration success rate.
  • Fig. 3 is an exemplary flow chart of determining a target field of view of a navigator according to some embodiments of the present specification. As shown in FIG. 3 , the process 300 includes the following steps. In some embodiments, the process 300 may be executed by the processing device 110 .
  • a surgical robot is usually used to assist the completion of the operation. Before the operation, the surgical robot needs to be registered in space.
  • the purpose of spatial registration of the surgical robot is to obtain the multi-space coordinate conversion relationship of the end-of-manipulator instrument, the target object, and the navigator.
  • the coordinate conversion relationship is a prerequisite for the normal operation of the surgical robot.
  • the spatial registration can be realized by controlling the mechanical arm of the surgical robot to move within the receptive field of the navigator according to the specified registration trajectory, which may easily cause the instrument at the end of the robotic arm (such as a sensor) to exceed the perception of the navigator during the operation. wild question.
  • the process 300 adjusts the initial receptive field through spatial range constraints related to the range of movement of the manipulator, so as to obtain a target field of view that enables the navigator to obtain the position of the manipulator at all times range, so as to avoid the device at the end of the robotic arm exceeding the receptive field range of the navigator, resulting in registration failure.
  • the spatial registration of the surgical robot may easily lead to the problem that the sensor of the instrument at the end of the manipulator arm exceeds the receptive field of the navigator during the operation, and realizes that the instrument at the end of the manipulator arm of the surgical robot remains within the field of view of the navigator, improving the success rate of registration.
  • Step 310 acquiring the initial receptive field of the navigator.
  • step 310 may be performed by a range determination module.
  • the initial receptive field is the field of view that can be obtained by the navigator.
  • the initial receptive field may also be referred to as the first receptive field. It can be understood that the initial receptive field may be determined based on hardware characteristics of the navigator, for example, the initial receptive field of the navigator may be an initial receptive field determined by factory settings in the navigator.
  • the surgical robot is used to perform surgery on the target object, and the navigator is used to obtain the position of the instrument at the end of the robotic arm of the surgical robot and the position of the target object, so as to match the position of the instrument at the end of the robotic arm with the position of the target object , to improve the accuracy of anatomical position recognition.
  • Commonly used navigators include optical navigators, electromagnetic navigators, etc. Specifically, optical navigators include binocular optical navigators, three-eye optical navigators, structured light navigators, and the like.
  • the range determination module can obtain the initial receptive field of the navigator from the processing device 110, the user terminal 130, the storage device 140, the surgical robot 150 and/or external data sources.
  • step 320 the spatial range constraints are obtained, and the initial receptive field is constrained according to the spatial range constraints to obtain the target field of view of the navigator.
  • step 320 may be performed by a range determination module.
  • the position of the instrument at the end of the robotic arm may appear outside the initial receptive field.
  • adjustments are made based on the initial receptive field to obtain the second receptive field with the optimal spatial position (i.e., the target field of view scope).
  • the initial receptive field is constrained according to the spatial range constraints.
  • the spatial range constraint condition may be a condition restricting the movable space of the device at the end of the mechanical arm, and may be pre-stored in the processor of the navigator.
  • the specific content of the spatial range constraints can be set by the staff based on experience, or can be obtained through model training such as neural networks, so as to obtain the optimal spatial range constraints.
  • the spatial range constraints can be related to the relative positional relationship between the end-of-manipulator instrument and the target object’s site to be operated, for example, the direction of the end-of-manipulator instrument relative to the target object’s site to be operated on, the direction of the end-of-manipulator instrument and the target object’s area to be operated on The shortest distance between parts, the inclination angle range of the device at the end of the robot arm relative to the part to be operated on of the target object, etc.
  • the constraints may relate to the relative positional relationship between the end-of-arm instrument and the navigator.
  • the constraints may also include other conditions restricting the movement of the end-of-arm device, for example, the shortest distance between the end-of-arm device and other devices (eg, the target object supporting device 153 , etc.).
  • the extent determination module may obtain the spatial extent constraints from the processing device 110, the user terminal 130, the storage device 140, the surgical robot 150, and/or external data sources.
  • the spatial range constraints can be set by staff based on experience, or can be obtained through model training such as neural networks, so as to obtain optimal spatial range constraints.
  • the spatial range constraints may include at least one of robotic arm constraints, target object constraints, and navigator field of view constraints.
  • the constraints of the robotic arm can characterize the reachable range of the robotic arm, and the constraints of the robotic arm can include the length and rotatable angle of each joint of the robotic arm.
  • the range determining module can obtain the reachable range of the mechanical arm through various sensors. For example, the range determining module can obtain the length of each joint of the Rotatable angle.
  • the reachable range of the manipulator can be determined by various sensors of the optical navigation instrument, for example, at least including a sensor at the end of the manipulator, a sensor at the target end, and possibly a reference position sensor.
  • the reachable range of the manipulator can also be determined according to conditions such as limit constraints of the manipulator, singular configuration constraints, self-occlusion of the manipulator, and the like.
  • the limit constraints of the manipulator can characterize the allowable rotation angle range of each joint of the manipulator, and the limit constraints of the manipulator can include the safe rotation angle range of each joint of the manipulator;
  • the pose that allows the robot arm to be placed, the singular configuration constraint can include the pose of the robot arm corresponding to at least one singular configuration;
  • the self-occlusion of the robot arm can represent the pose that is not allowed to be occluded by the robot arm, and the self-occlusion of the robot arm can be Including poses where the robotic arm occludes the instrument at the end of the robotic arm, and poses where the robotic arm occludes the part of the target object to be operated, etc.
  • the target object constraints can characterize the safe distance between the end-of-manipulator instrument and the target object.
  • the target object constraint conditions can include the shortest distance between the end-of-manipulator instrument and the target object’s site to be operated, the end-of-manipulator instrument is located in the disinfection area, etc. .
  • the target object constraints can be determined by the safe distance between the end-of-manipulator instrument and the target object.
  • the visual field constraint condition of the navigator may be a high-precision positioning range of the navigator. It can be understood that the high-precision positioning range of the navigator may be a part of the initial receptive field. For example, the high-precision positioning range of the navigator may be the middle area of the initial receptive field. For the constraints of the field of view of the navigator, the effective range of the receptive field of the optical navigation instrument can be established through the configuration of the manipulator.
  • electromagnetic interference also needs to be considered.
  • the initial receptive field is constrained according to the spatial range constraints, and the target field of view of the navigator is obtained, so that each position in the second receptive field (ie, the target field of view of the navigator) satisfies all constraints.
  • the second receptive field is determined based on at least one of the constraints of the manipulator arm, the constraints of the target object, and the constraints of the field of view of the navigator, which can improve the safety of the surgical robot during registration.
  • the range determining module may use any feasible method to restrict the initial receptive field according to the spatial range constraints, so as to obtain the target field of view range of the navigator.
  • the range determination module can constrain the initial receptive field according to the spatial range constraints through the range determination model to obtain the target field of view of the navigator
  • the range determination model can be a machine learning model for determining the target field of view
  • the input of the range determination model may include spatial range constraints (for example, at least one of the constraints of the manipulator arm, the target object constraints, and the field of view constraints of the navigator)
  • the output of the range determination model may include the target field of view of the navigator Range
  • the range determination model may include one or more combinations of convolutional neural network (CNN), recurrent neural network (RNN), multi-layer neural network (MLP), and confrontational neural network (GAN).
  • CNN convolutional neural network
  • RNN recurrent neural network
  • MLP multi-layer neural network
  • GAN confrontational neural network
  • the range determination module can update the parameters of the range determination module through multiple sets of training samples to obtain a trained range determination model, wherein the training samples can include the spatial range constraints of the sample surgical robot, and the labels of the training samples is the target field of view corresponding to the sample surgical robot.
  • the spatial range constraints can establish an objective function used to describe the spatial range of the target field of view.
  • the objective function is constrained and calculated according to the spatial range constraints, and the objective function calculated according to the constraints is Determine the field of view of the target.
  • the spatial range constraints are obtained, and the initial receptive field is constrained according to the spatial range constraints, so as to obtain the target field of view of the navigator, which can make the end-of-manipulator instrument and the target object support when the subsequent surgical robot performs spatial registration.
  • the to-be-operated part of the target object on the device is always within the target field of view, so that the navigator can obtain the pose of the end-of-manipulator instrument and the to-be-operated part of the target object, which can avoid the failure of the surgical robot space registration.
  • the process 300 may further include step 330, after determining the target field of view of the navigator, adjusting the position of the navigator according to the target field of view, so that the instrument at the end of the robotic arm of the surgical robot is within the target field of view.
  • step 330 may be performed by a range determination module.
  • the position of the navigator may be adjusted according to the second receptive field, so that the instrument at the end of the robotic arm of the surgical robot is located in the second receptive field.
  • the automatic positioning can be realized by a motor, and the positioning can also be realized manually by a staff member.
  • Fig. 5 is a schematic diagram of the receptive field according to some embodiments of the present specification. As shown in Fig.
  • the solid line frame is the initial receptive field of the navigator
  • the dotted line frame is the second receptive field constrained by the space range constraints
  • Sensor A is the instrument at the end of the robotic arm
  • sensor B is the target object sensor that acquires the position of the target object.
  • sensor A is located in the second receptive field indicated by the dotted line box to avoid sensor A exceeding the navigator when the surgical robot registers in space The actual receptive field range.
  • the position of the navigator can be adjusted, and the second receptive field can be reacquired according to the constraints of the space range until the device at the end of the manipulator is located in the second receptive field.
  • the position of the navigator is adjusted according to the target field of view, so that the instrument at the end of the robotic arm of the surgical robot is within the target field of view, so that when the surgical robot is subsequently registered in space, The instrument at the end of the robotic arm of the surgical robot is always within the target field of view to avoid registration failures.
  • determining the target field of view of the navigator 300 obtains the initial receptive field of the navigator and the spatial range constraints, and constrains the initial receptive field according to the spatial range constraints, so that the navigator can be quickly and accurately determined. target field of view.
  • Fig. 4 is an exemplary flow chart of constraining the initial receptive field according to the spatial range constraints to obtain the target field of view of the navigator according to some embodiments of the present specification. As shown in Fig. 4, the process 400 includes the following steps. In some embodiments, the process 400 may be executed by the processing device 110 .
  • Step 410 establishing an objective function used to describe the spatial range of the target field of view.
  • step 410 may be performed by a range determination module.
  • the objective function may be a function used to describe the spatial range corresponding to the target field of view.
  • the objective function can be expressed in any form.
  • the objective function can be expressed as max.H(f(x,y,z)), where x,y,z ⁇ R, where R is a set of real numbers, and f(x,y,z) represents the target field of view
  • max.H() indicates the maximum effective solution of the spatial range corresponding to the target field of view.
  • Step 420 perform constraint calculation on the objective function according to the spatial range constraints by means of an optimization calculation method.
  • step 420 may be performed by a range determination module.
  • the optimal calculation method is a method of describing qualitative or quantitative mathematical problems by establishing an appropriate mathematical model, and designing an appropriate calculation method to find the optimal solution of the mathematical model.
  • Optimization calculation methods may include linear programming, semidefinite programming, least squares problems, compound optimization, matrix optimization, stochastic optimization, gradient descent method, Newton method and quasi-Newton method, conjugate gradient method, heuristic optimization method and other methods.
  • the range determination module can use a typical optimization software program in languages such as MATLAB or Python to perform constraint calculation on the objective function according to the constraints of the space range through an optimization calculation method, and solve the objective function.
  • Step 430 determine the target field of view according to the objective function after constraint calculation.
  • step 430 may be performed by a range determination module.
  • the range determination module may use the result of the objective function calculated according to the constraint as the target field of view range.
  • Fig. 6 is an exemplary flow chart of determining a spatial registration pose of a surgical robot according to some embodiments of the present specification. As shown in Fig. 6, the process 600 includes the following steps. In some embodiments, the process 600 may be executed by the processing device 110 .
  • Step 610 obtaining multiple position coordinates and multiple rotation poses of the end-of-manipulator device.
  • step 610 may be performed by a pose registration module.
  • a position coordinate can correspond to at least one rotation pose.
  • the number of rotation gestures corresponding to different position coordinates may be different.
  • the number of rotation gestures corresponding to the position coordinates of the site to be operated on closer to the target object may be greater than the number of position of the site to be operated on that is farther away from the target object.
  • the number of rotation poses that the coordinates correspond to may be different.
  • the position coordinates can be spatial position coordinates in the navigator coordinate system, represented by (x, y, z). In the case of obtaining the conversion relationship between the navigator coordinate system and other coordinate systems, the position coordinates can also be other coordinates The position coordinates under , for example, the manipulator coordinate system, the manipulator end coordinate system, and the manipulator end sensor coordinate system.
  • the rotation attitude is the angle or orientation of the end-of-manipulator instrument relative to the coordinate axis at this spatial position, which can be expressed by equivalent rotation vectors, Euler angles, rotation matrices, and attitude quaternions, among which multiple rotation attitudes constitute Set of target orientations for end-of-arm instruments.
  • the pose registration module can obtain multiple position coordinates and multiple rotation poses from the processing device 110 , the user terminal 130 , the storage device 140 , the surgical robot 150 or external data sources.
  • the pose registration module can obtain multiple initial rotation poses of the end-of-manipulator device, and deflect the multiple initial rotation poses in the same direction to obtain multiple rotation poses.
  • the initial rotation posture can be a preset rotation posture, and multiple initial rotation postures can form an initial orientation set of the end-of-manipulator device.
  • the pose registration module can obtain multiple initial rotation poses from the processing device 110, the user terminal 130, the storage device 140, the surgical robot 150, or external data sources.
  • the pose registration module can adjust the initial pose of the device at the end of the robotic arm to generate multiple initial rotation poses.
  • the pose registration module can obtain the maximum pose range of the end-of-manipulator device, and determine multiple initial poses of the end-of-manipulator device according to the number of poses and/or the dispersion of poses of the end-of-manipulator device under the maximum pose range. Rotate gesture.
  • the pose registration module can obtain the maximum pose range from the processing device 110, the user terminal 130, the storage device 140, the surgical robot 150, or an external data source.
  • the rotation posture of the surgical robot can cover all the rotation postures of the manipulator to the greatest extent, the posture dispersion is set here, where the posture dispersion is the spatial relative posture of two adjacent rotation postures, for example , the angle of one rotation attitude relative to the coordinate axis is 10°, and the angle of the other rotation attitude relative to the coordinate axis is 30°, so the attitude dispersion is 20°.
  • the initial orientation set of the end-of-arm device is determined according to the number of poses and/or the dispersion of poses of the end-of-arm device. Among them, the number of poses is the total number of different poses of the end device of the manipulator under the second receptive field.
  • the pose registration module can determine multiple initial rotation poses of the end-of-manipulator device according to the number of poses of the end-of-manipulator device. As an example only, when the number of poses is 7, the initial rotation poses of 5 parts to be operated close to the target object and the initial rotation poses of 2 parts to be operated far away from the target object can be determined within the maximum pose range of the end-of-arm instrument. Initial rotation pose.
  • the number of attitudes can be obtained first, and then the rotation attitudes of the number of attitudes are distributed to the target field of view.
  • the maximum attitude range is set to [-45°, 45°] , then when the number of postures is 5, a rotation posture can be set every 22.5°, and 22.5° is the corresponding posture dispersion, such as -45°, -22.5°, 0°, 22.5°, 45° , can also be densely set in the spatial range close to the target object, and sparsely set in the spatial range far from the target object.
  • the attitude dispersion can be determined first, and then the specific rotation attitude in the target field of view can be determined according to the maximum attitude range.
  • the attitude dispersion can be set under the maximum attitude range of [-45°, 45°] is 15°, there are 7 rotation attitudes in total.
  • the initial orientation set can be jointly determined according to the number of attitudes and the rotation attitude.
  • the sensor configured at the end of the robotic arm can be recognized by the binocular optical navigator when the manipulator is in a discrete posture.
  • the pose registration module can deflect multiple initial rotation poses in the same direction to obtain multiple rotation poses.
  • the deflection includes the deflection towards the direction of the navigator, or if the manipulator is deformed or the manipulator is not accessible, the deflection towards the direction of the navigator is considered on the basis of considering the initial direction.
  • the coordinate system of the surgical robot includes at least some of the following coordinate systems: the coordinate system of the manipulator, the coordinate system of the navigator, the coordinate system of the end of the manipulator and the coordinate system of the sensor at the end of the manipulator.
  • multiple rotation postures can be quickly obtained, and the rotation within the second receptive field can be guaranteed
  • the pose distribution is relatively uniform, which provides more choices for the registration of surgical robots.
  • Step 620 determine the spatial registration pose of the surgical robot according to multiple position coordinates and multiple rotation poses.
  • step 620 may be performed by a pose registration module.
  • the position coordinates and the rotation posture are not strongly correlated, the position coordinates can be selected in the second receptive field, and the selection of the rotation posture is not limited by the second receptive field, and can be selected in the second receptive field or Choose within the range outside the second receptive field. Finally, the selected position coordinates and rotation pose are combined to obtain the spatial registration pose.
  • corresponding rotation postures can be set for each position coordinate, and the corresponding relationship can be preset.
  • the corresponding relationship can be preset. For example, in the case of multiple position coordinates, for each position coordinate close to the target object or scanning bed, Multiple rotation poses can be set to obtain more accurate registration trajectories. For position coordinates far away from the target object or the scanning bed, the number of rotation poses corresponding to the position coordinates can be less.
  • more intensive position coordinates can be set for the spatial registration of the surgical robot.
  • Fig. 7 is an exemplary flow chart of determining the registration pose of the surgical robot based on the conversion relationship between various coordinate systems in the surgical robot according to some embodiments of the present specification. As shown in FIG. 7 , the process 700 includes the following steps. In some embodiments, the process 700 may be performed by the processing device 110 .
  • Step 710 calculate the conversion relationship between multiple coordinate systems through coordinate transformation.
  • step 710 may be performed by a pose registration module.
  • the plurality of coordinate systems include the joint coordinate system of the end of the manipulator, the equipment coordinate system of the end of the manipulator, the coordinate system of the navigator coordinate system of the base of the manipulator, and so on.
  • the conversion relationship between various coordinate systems can be solved according to the coordinates obtained by the sensor at the end of the robot arm, the coordinates of the initial pose of the robot arm, and the coordinates of the joint at the end of the robot arm.
  • the end sensor is configured on the end of the robot arm sensor.
  • Step 720 constraining the initial receptive field according to at least one of the constraints of the manipulator arm, the target object and the field of view of the navigator, and obtaining the second receptive field through an optimization calculation method.
  • step 720 may be performed by a pose registration module.
  • target object constraints may be determined based on coordinates acquired by target object sensors.
  • Step 730 adjust the position of the navigator according to the second receptive field, and obtain an updated second receptive field according to the adjusted position of the navigator until the device at the end of the manipulator is located in the second receptive field.
  • step 730 may be performed by a pose registration module.
  • Step 740 acquire the initial orientation set, deflect the initial orientation set, and calculate the deflected target orientation set of the terminal device of the manipulator according to the initial attitude and the coordinate system transformation relationship between the end sensor and the navigator.
  • step 740 may be performed by a pose registration module.
  • the coordinates of the end-of-manipulator instrument tracked by the navigator are used as the initial position coordinates, and then the end-of-manipulator The initial coordinate system transformation relationship from the instrument to the navigation instrument.
  • the pose of the manipulator is used as the initial pose Porigin of the manipulator.
  • Step 750 select several rotation poses from the target direction of the instrument at the end of the robotic arm, select multiple position coordinates in the second receptive field, and combine the rotation poses and position coordinates as the registered pose of the surgical robot.
  • step 750 may be performed by a pose registration module.
  • the pose is represented by (x, y, z, rx, ry, rz), x, y, z represent the position coordinates, and rx, ry, rz represent the rotation posture.
  • the angles of each joint in the manipulator are determined by kinematics inverse solution.
  • the target orientation set is mainly used to determine the rotation pose (rx, ry, rz) of the end-of-manipulator device corresponding to each registered pose in the pose calculation, and the calculation of the spatial position is used to determine each registered pose The spatial position (x,y,z) of .
  • the process 700 adjusts the initial receptive field through the spatial range constraints related to the motion range of the manipulator, so as to obtain the second Receptive field, so as to avoid the device at the end of the robot arm from exceeding the receptive field range of the navigator, resulting in registration failure. It solves the problem in the related art that the spatial registration of the surgical robot before the operation easily causes the sensor of the end instrument of the manipulator to exceed the receptive field of the navigator, and realizes that the end instrument of the manipulator arm of the surgical robot remains within the field of view of the navigator, improving Registration success rate.
  • FIG. 8 is a block diagram of a hardware structure of a terminal according to a method for acquiring a receptive field of a visual navigator shown in some embodiments of this specification.
  • the terminal 800 may include one or more (only one is shown in FIG. 8) processors 802 (the processors 802 may include but not limited to processing devices such as microprocessor MCU or programmable logic device FPGA, etc.) and a memory 804 for storing data.
  • the terminal may further include a transmission device 806 and an input and output device 808 for communication functions.
  • the structure shown in FIG. 8 is only for illustration, and it does not limit the structure of the above-mentioned terminal.
  • the terminal 800 may also include more or fewer components than those shown in FIG. 8 , or have a different configuration from that shown in FIG. 8 .
  • the memory 804 can be used to store control programs, for example, software programs and modules of application software, such as the control program corresponding to the method for acquiring the receptive field of the visual navigator in the embodiment of the present application, and the processor 802 runs the control program stored in the memory 804 , so as to perform various functional applications and data processing, that is, to realize the above-mentioned method.
  • the memory 804 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory.
  • the memory 804 may further include a memory that is remotely located relative to the processor 802, and these remote memories may be connected to the terminal 800 through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • Transmission device 806 is used to receive or transmit data via a network.
  • the specific example of the above network may include a wireless network provided by the communication provider of the terminal 800 .
  • the transmission device 806 includes a network adapter (Network Interface Controller, NIC for short), which can be connected to other network devices through a base station so as to communicate with the Internet.
  • the transmission device 806 may be a radio frequency (Radio Frequency, RF for short) module, which is used to communicate with the Internet in a wireless manner.
  • RF Radio Frequency
  • This embodiment also provides a surgical robot, including a navigator, a mechanical arm, and a processor: the processor obtains the initial receptive field of the navigator; the processor obtains the spatial range constraints, and constrains the initial receptive field according to the spatial range constraints , to get the second receptive field of the navigator.
  • the spatial range constraints include at least one of the constraints of the manipulator, the constraints of the target object, and the constraints of the field of view of the navigator.
  • the specific method for the processor to obtain the second receptive field is: establishing an objective function for describing the spatial range of the second receptive field; performing constraint calculation on the objective function according to the constraints of the spatial range through an optimization calculation method; The calculated objective function determines the second receptive field.
  • the processor may also adjust the position of the navigator according to the second receptive field, so that the instrument at the end of the mechanical arm of the surgical robot is located in the second receptive field.
  • the processor determines the spatial registration pose of the surgical robot in combination with the second receptive field and the pose of the instrument at the end of the robotic arm of the surgical robot.
  • the calculation method of spatial registration pose is: obtain multiple position coordinates and rotation postures of the end-of-manipulator instrument of the surgical robot, and multiple rotation postures constitute the target direction set of the end-of-manipulator instrument; according to multiple position coordinates and target A plurality of rotation poses in the direction set determine the spatial registration pose of the surgical robot, where the position coordinates correspond to the rotation poses.
  • the process for the processor to obtain the target direction set is: obtain the initial direction set of the instrument at the end of the mechanical arm, the initial direction set includes multiple initial rotation postures; deflect the multiple initial rotation postures in the initial direction set to the same direction, Obtain the target orientation set of the instrument at the end of the manipulator.
  • the initial direction set is obtained by the following method: obtain the maximum attitude range of the end-of-manipulator instrument recognized by the navigator; under the maximum attitude range, determine the position of the end-of-manipulator instrument according to the number of attitudes and/or the dispersion of attitude Initial orientation set.
  • the surgical robot in this embodiment on the basis of the initial receptive field, adjusts the initial receptive field through the spatial range constraints related to the range of motion of the manipulator, so as to obtain the second receptive field that enables the navigator to obtain the position of the manipulator at all times.
  • Receptive field so as to avoid the device at the end of the robot arm from exceeding the receptive field range of the navigator, resulting in registration failure. It solves the problem in the related art that the spatial registration of the surgical robot before the operation easily causes the sensor of the end instrument of the manipulator to exceed the receptive field of the navigator, and realizes that the end instrument of the manipulator arm of the surgical robot remains within the field of view of the navigator, improving Registration success rate.
  • This embodiment also provides a device for acquiring a receptive field of a visual navigator, which is used to implement the above embodiments and preferred implementation modes, and what has already been described will not be repeated.
  • the terms “module”, “unit”, “subunit” and the like may be a combination of software and/or hardware that realize a predetermined function.
  • the devices described in the following embodiments are preferably implemented in software, implementations in hardware, or a combination of software and hardware are also possible and contemplated.
  • Fig. 9 is a structural block diagram of a visual navigator receptive field acquisition device according to some embodiments of this specification.
  • the device includes an acquisition module 910 and a constraint module 920: the acquisition module 910 is used to acquire The initial receptive field of the navigator; the constraint module 920, configured to obtain the spatial range constraint condition, constrain the initial receptive field according to the spatial range constraint condition, and obtain the second receptive field of the navigator.
  • the spatial range constraints include at least one of the constraints of the manipulator, the constraints of the target object, and the constraints of the field of view of the navigator.
  • the constraint module 920 is also used to establish an objective function for describing the spatial range of the second receptive field; through an optimization calculation method, perform constraint calculation on the objective function according to the constraints of the spatial range; determine according to the objective function after the constraint calculation Second receptive field.
  • the device for acquiring the receptive field of the visual navigator includes a positioning module, configured to adjust the positioning of the navigator according to the second receptive field, so that the instrument at the end of the robotic arm of the surgical robot is located in the second receptive field.
  • the receptive field acquisition device of the visual navigator includes a registration module, which is used to determine the spatial registration pose of the surgical robot by combining the second receptive field and the pose of the instrument at the end of the robotic arm of the surgical robot.
  • the registration module includes a direction set calculation unit, which is used to obtain multiple position coordinates and rotation postures of the end-of-manipulator instrument of the surgical robot.
  • the multiple rotation postures constitute the target direction set of the end-of-manipulator instrument.
  • the plurality of rotation poses in the target orientation set determine the spatial registration pose of the surgical robot, where the position coordinates correspond to the rotation poses.
  • the registration module includes a deflection unit, which is used to obtain an initial orientation set of the end-of-manipulator instrument, wherein the initial orientation set includes multiple initial rotation postures; and then deflects the multiple initial rotation postures in the initial orientation set to the same direction , to get the target orientation set of the instrument at the end of the manipulator.
  • the initial direction set is obtained by the following method: obtain the maximum attitude range of the end-of-manipulator instrument recognized by the navigator; under the maximum attitude range, determine the position of the end-of-manipulator instrument according to the number of attitudes and/or the dispersion of attitude Initial orientation set.
  • the constraint module 920 adjusts the initial receptive field through the spatial range constraints related to the range of motion of the manipulator, so that the navigator can Obtain the second receptive field of the position of the robotic arm at all times, so as to prevent the device at the end of the robotic arm from exceeding the receptive field of the navigator, resulting in registration failure.
  • each of the above-mentioned modules may be a function module or a program module, and may be realized by software or by hardware.
  • the above modules may be located in the same processor; or the above modules may be located in different processors in any combination.
  • This embodiment also provides an electronic device, including a memory and a processor, where a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.
  • the electronic device may further include a transmission device and an input and output device 808, where the transmission device is connected to the processor, and the input and output device 808 is connected to the processor.
  • the above-mentioned processor may be configured to execute the following steps through a computer program:
  • the above-mentioned processor may be configured to execute the following steps through a computer program:
  • Fig. 10 is an exemplary flow chart of determining the target pose of the navigator according to the target field of view according to some embodiments of the present specification. As shown in FIG. 10 , the process 1000 includes the following steps. In some embodiments, the process 1000 may be executed by the processing device 110 .
  • Surgical navigation is to realize the visualization and automation of surgical operations through three-dimensional digital target lesion tissue and real-time tracking of surgical locations, thereby assisting doctors to complete surgical tasks more quickly, accurately and safely.
  • Optical navigation is currently the mainstream method in surgical navigation. It has the advantages of high precision, flexible and convenient application, and no invasive damage, so it has a wide range of applications.
  • Optical navigation instruments can detect and track target objects in real time during surgery to assist The process of surgical operation.
  • the optical navigator Before using the optical navigator to detect and track the target object in real time, it is usually necessary to adjust the pose of the optical navigator.
  • the operator When adjusting the pose of the optical navigator, the operator usually adjusts the The pose is adjusted to the desired state.
  • the process 1000 obtains the positional relationship between the reference marker of the surgical robot and the target field of view of the navigator of the surgical robot; generates pose adjustment data according to the positional relationship, and performs optical navigation based on the pose adjustment data. Adjust the pose of the navigator so that the reference marker falls within the target field of view of the navigator.
  • the pose adjustment data generated by the position relationship can be used to directly and automatically adjust the pose of the navigator without relying on manual experience to adjust the pose of the navigator, which not only improves the accuracy of adjusting the pose of the navigator, but also The efficiency of adjusting the pose of the navigator is also improved.
  • Step 1010 acquiring the positional relationship between the reference marker of the surgical robot and the target field of view of the navigator.
  • step 1010 may be performed by a pose determination module.
  • the reference marker of the surgical robot may be a marker provided on components of the surgical robot other than the navigator (for example, the end of the robot arm, the site to be operated on of the target object, etc.).
  • the marker can be in any form, for example, the marker can be a metal reflective ball or a metal reflective sheet, and the surface of the metal reflective ball or the metal reflective sheet is coated with a reflective coating.
  • Surgical robot also known as surgical robot navigation and positioning system
  • the surgical robot navigation and positioning system can include reference markers and optical navigators. When using optical navigators to detect and track target objects in real time, it is usually necessary to set reference markers on the target objects.
  • the reference markers here are usually easily identifiable optical Markers, for example, can be optical beads that reflect near-infrared light.
  • the reference marker needs to be kept within the target field of view of the optical navigator.
  • After determining the target field of view of the optical navigator in order to keep the reference marker within the target field of view of the optical navigator, it is necessary to obtain the positional relationship between the reference marker and the target field of view of the optical navigator. It can be obtained directly based on the position information of the reference marker and the target field of view, or can be obtained after processing the position information of the reference marker and the target field of view in other ways.
  • the reference markers of the surgical robot may include reference markers disposed on the end of the robotic arm and/or reference markers disposed on the site of the target object to be operated on.
  • the target field of view may be an area of a preset size within the field of view of the navigator.
  • the target field of view may be an area jointly determined according to the precision range of the robotic arm, the surgical operation range, and the field of view of the navigation instrument.
  • the target field of view refer to the related descriptions in FIG. 2 and FIG. 3 , and details will not be repeated here.
  • the positional relationship between the reference marker of the surgical robot and the target field of view of the navigator may characterize the relative positional relationship between the reference marker of the surgical robot and the target field of view of the navigator.
  • the positional relationship between the reference marker of the surgical robot and the target field of view of the navigator may refer to information such as the relative position and distance between the marker and the target field of view of the optical navigator.
  • the positional relationship between the reference marker of the surgical robot and the target field of view of the navigator may include: the relative direction of the reference marker on the end of the mechanical arm of the surgical robot and the target field of view of the navigator, the The angle between the reference marker on the end and the target field of view of the navigator, the distance between the reference marker on the end of the robotic arm of the surgical robot and the target field of view of the navigator, etc.; The relative direction of the reference marker and the target field of view of the navigator, the angle between the reference marker on the site to be operated on the target object and the target field of view of the navigator, the target on the site to be operated on the target object and the navigator distance between fields of view, etc.
  • the positional relationship between the reference marker of the surgical robot and the target field of view of the navigator may include at least one position within the target field of view of the surgical robot and the navigator (for example, the target field of view The positional relationship between the central point of the target field of view or at least one edge point of the target field of view, etc.).
  • the pose determination module can obtain the positional relationship between the reference marker of the surgical robot and the target field of view of the navigator by any method. For example, the positional relationship between the reference marker of the surgical robot and the target field of view of the navigator is obtained manually.
  • the pose determination module can acquire the position information of the reference marker of the surgical robot relative to the navigator, acquire the target field of view of the navigator, and calculate the reference marker based on the position information The positional relationship between the object and the target field of view. For more descriptions on calculating the positional relationship between the reference marker and the target field of view based on the position information of the reference marker of the surgical robot relative to the navigator, refer to FIG. 11 and its related descriptions, which will not be repeated here.
  • Step 1020 generate pose adjustment data according to the positional relationship, and adjust the pose of the navigator based on the pose adjustment data, so that the reference marker falls within the target field of view of the navigator.
  • step 1020 may be performed by a pose determination module.
  • the pose adjustment data is used to indicate the data for adjusting the pose of the navigator.
  • pose adjustment data may include distance adjustment data, attitude adjustment data, and the like.
  • the pose adjustment data can be displayed in the form of pictures, animations, prompt information, voice, etc., and of course can also be displayed in other ways.
  • the pose adjustment data includes one type, for example, the pose adjustment data is only displayed in the form of a picture, then the pose of the navigator can be adjusted directly based on the information on the picture so that the reference marker falls on the within the target field of view of the navigator; if the pose adjustment data includes two or more types, multiple types of pose adjustment data can be used to adjust the pose of the navigator together, or you can only choose to use Some types of pose adjustment data adjust the pose of the navigator.
  • the pose adjustment data is displayed in the form of pictures and prompt information at the same time, then the pose of the optical navigator can be adjusted in combination with the information on the picture and the prompt information, or only the information on the picture or only the prompt information can be used to adjust the position and posture of the optical navigator. Adjust the pose of the navigator.
  • the pose adjustment data generated by the position relationship the pose of the navigator is directly and automatically adjusted without relying on manual experience to adjust the pose of the navigator, which not only improves the accuracy of adjusting the pose of the optical navigator, but also The efficiency of adjusting the pose of the optical navigator is also improved.
  • the pose determination module can determine the relative position relationship diagram and pose adjustment information between the logo corresponding to the reference marker and the logo corresponding to the target field of view according to the position relationship, and according to the relative position relationship diagram and position
  • the attitude adjustment information is used to adjust the attitude of the navigator.
  • the pose determination module can determine the pose adjustment information of the optical navigator based on the positional relationship, and adjust the pose of the optical navigator based on the pose adjustment information so that the reference marker falls on the optical navigator. within the field of view of the target. For more descriptions on adjusting the pose of the optical navigator based on the pose adjustment information, refer to FIG. 13 and its related descriptions, which will not be repeated here.
  • the pose determination module can determine the relative position relationship graph between the reference marker of the surgical robot and the target field of view of the navigator according to the position relationship, based on the relative position graph and the pose adjustment data pair
  • the target pose of the navigator is adjusted so that the reference marker of the surgical robot is within the target field of view of the navigator.
  • the pose determination module can adjust the pose of the navigator based on the pose adjustment data, so that the first reference marker falls within the first field of view area, and the end-of-manipulator device can be adjusted based on the target pose.
  • the pose of (for example, the second reference marker) is adjusted so that the second reference marker disposed at the end of the mechanical arm falls within the second field of view.
  • the first reference marker and the second reference marker are respectively located on different parts of the surgical robot.
  • the first field of view area may be the target field of view, or an area within the target field of view
  • the second field of view may be located within the first field of view.
  • the first reference marker can usually be fixed on a system component that maintains a relatively static position relationship with the operating trolley.
  • the first reference marker can be arranged on the operating trolley or the head connected to the support arm of the operating trolley.
  • On the target object fixed by the fixing device for example, it can be set on the head of the target object; the second reference marker is set at the end of the mechanical arm, and in the subsequent process of adjusting the pose of the navigator, the instrument at the end of the mechanical arm (eg, a second reference marker) does not move.
  • A represents the operating trolley
  • B represents the robotic arm
  • C represents the first reference marker
  • D represents the second reference marker disposed at the end of the mechanical arm
  • E represents the navigator.
  • the first reference marker is identified by "o”
  • the second reference marker is identified by " ⁇ ".
  • the target field of view includes a first field of view area and a second field of view area, and the first field of view area is located inside the second field of view area.
  • the first field of view area is an area jointly determined according to the precision range of the robotic arm, the surgical operation range, and the field of view range of the navigation instrument;
  • the second field of view area is the entire target field of view range.
  • the second field of view area is identified by a hexagon
  • the first field of view area is identified by a rectangular frame inside the hexagon. Since both the first reference marker and the second reference marker are fixedly set, the pose of the navigator can be adjusted based on the pose adjustment data so that the first reference marker falls within the first field of view area, and the The second reference marker falls within the second field of view area.
  • the pose of the optical navigation instrument can be roughly adjusted manually or driven by a motor, so that it roughly faces the two reference markers.
  • the navigation instrument captures the reference marker, that is, when the reference marker enters the field of view of the navigation instrument, the optical navigation instrument is fine-tuned manually or by motor drive based on the pose adjustment data, so that the representative reference marker in the relative position relationship diagram The mark of the object falls within the corresponding mark representing the target field of view of the navigator.
  • the pose of the navigator is adjusted based on the pose adjustment data, so that the first reference marker falls in the first field of view area, and the second reference marker falls in the second field of view area Inside.
  • the adjustment process of the navigator is guided according to the posture adjustment data, so as to facilitate the adjustment of the navigator, thereby ensuring that the first reference marker and the second reference marker fall quickly and accurately within the corresponding field of view area.
  • it also ensures the successful completion of subsequent registration and registration links, avoids the risk of registration and registration failure caused by the poor field of view of the optical navigator and then returns to the previous workflow, and improves the stability of the system workflow.
  • the pose of the navigator is adjusted based on the pose adjustment data so that the first reference marker falls within the first field of view area
  • the pose of the end-of-manipulator device is adjusted based on the pose adjustment data Adjust so that the second reference marker set at the end of the mechanical arm falls in the second field of view area; wherein, the first reference marker is set on the operating trolley of the surgical robot or on the site to be operated on the target object, and the second The reference marker is arranged on the mechanical end of the surgical robot, and the first field of view area is located inside the second field of view area.
  • the target pose of the navigator can be generated relatively quickly and accurately according to the positional relationship, and according to the target position of the navigator
  • the pose control navigator performs positioning, which can reduce the risk of spatial registration failure due to poor field of view of the navigator.
  • Fig. 11 is an exemplary flow chart of calculating the positional relationship between the reference marker and the target field of view based on the position information of the reference marker of the surgical robot relative to the navigator according to some embodiments of the present specification. As shown in FIG. 11 , the process 1100 includes the following steps. In some embodiments, the process 1100 may be performed by the processing device 110 .
  • Step 1110 acquiring the position information of the reference marker of the surgical robot relative to the navigator.
  • step 1110 may be performed by a pose determination module.
  • the position information of the reference marker of the surgical robot relative to the navigator may include the position information of the reference marker on the mechanical end of the surgical robot and/or the reference marker on the site to be operated on of the target object relative to the navigator.
  • the reference markers of the surgical robot may include the orientation of the reference markers on the mechanical end of the surgical robot relative to the navigator, the angle between the reference markers on the mechanical end of the surgical robot and the navigator, and the angle between the reference markers on the mechanical end of the surgical robot.
  • the positional relationship between the surgical robot's reference marker and the navigator may include the position between the surgical robot's reference marker and at least one component of the navigator (eg, camera, near-infrared light source, etc.) relation.
  • the navigator eg, camera, near-infrared light source, etc.
  • the pose determination module can obtain the position information of the reference marker of the surgical robot relative to the navigator by any means.
  • the navigator emits near-infrared light to the reference marker of the surgical robot in the target field of view through the near-infrared light source at the front end of the near-infrared binocular positioning camera lens, and the near-infrared light is reflected back to the photosensitive component of the camera through the reference marker. Therefore, the reference marker forms a bright light spot on the image, so that the coordinate information of the reference marker in the coordinate system of the navigator can be extracted, and then the position information of the reference marker of the surgical robot relative to the navigator can be determined.
  • the pose determination module can acquire the image of the surgical robot, and determine the positional relationship between the reference marker of the surgical robot and the navigator based on the image of the surgical robot .
  • Step 1120 acquire the target visual range of the navigator.
  • step 1120 may be performed by a range determination module.
  • the range determination module can obtain the initial receptive field of the navigator, obtain the spatial range constraints, constrain the initial receptive field according to the spatial range constraints, and obtain the target field of view of the navigator.
  • constraining the initial receptive field according to the constraints of the spatial range to obtain the target field of view of the navigator please refer to FIG. 3 , FIG. 4 and their related descriptions, and details will not be repeated here.
  • Step 1130 calculating the positional relationship between the reference marker and the target field of view based on the positional information.
  • step 1130 may be performed by a pose determination module.
  • the positional relationship can characterize information such as the relative position and distance between the reference marker and the target field of view of the navigator.
  • the pose determination module may calculate the positional relationship between the reference marker and the target field of view based on the positional information in any manner. For example, since the target field of view of the navigator can also be characterized by corresponding coordinate information, the positional relationship between the reference marker and the target field of view can be represented directly through the position information of the reference marker and the coordinate information of the target field of view ; It is also possible to characterize the positional relationship between the reference marker and the target field of view according to the calculation results after performing mathematical operations on the position information of the reference marker and the coordinate information of the target field of view.
  • the method of the positional relationship between the reference marker and the target field of view is simple and easy to operate, and the efficiency is improved.
  • Fig. 12 is an exemplary flowchart of generating pose adjustment information based on a relative position relationship diagram and adjusting the pose of the navigator according to the pose adjustment information according to some embodiments of the present specification. As shown in FIG. 12 , the process 1200 includes the following steps. In some embodiments, the process 1200 may be performed by the processing device 110 .
  • Step 1210 determine the relative positional relationship diagram and pose adjustment information between the marker corresponding to the reference marker and the marker corresponding to the target field of view.
  • step 1210 may be performed by a pose determination module.
  • the relative position relationship diagram can be used to characterize the image of the position information of the reference marker of the surgical robot relative to the navigator.
  • the relative position relationship map can be a two-dimensional (2D, two-dimensional) image or a three-dimensional (3D, three-dimensional) image, and its format can be Joint Photographic Experts Group (JPEG), Tagged Image File Format (TIFF), Graphics Interchange Format (GIF), etc.
  • JPEG Joint Photographic Experts Group
  • TIFF Tagged Image File Format
  • GIF Graphics Interchange Format
  • the pose adjustment data can be displayed in the form of a relative position relationship diagram.
  • the relative position relationship diagram can be used to characterize the position. Positional relationship.
  • different markers may be used in the relative position relationship diagram to represent the reference marker and the target field of view, and the markers here may be geometric figures or other types of markers.
  • the relative position relationship diagram may only include the identification corresponding to the target field of view; when the reference marker falls within the field of view of the optical navigator, The relative position relationship diagram can also be refreshed in real time according to the position relationship between the reference marker and the target field of view of the optical navigator.
  • Step 1220 adjust the pose of the navigator according to the relative position relationship diagram and the pose adjustment information.
  • step 1220 may be performed by a pose determination module.
  • the pose of the optical navigator can be adjusted according to the relative position relationship diagram, so that The reference marker falls within the target field of view of the optical navigator. Specifically, in the process of adjusting the optical navigator, it is possible to judge whether the reference marker falls within the target field of view of the optical navigator according to the real-time refreshed relative position relationship diagram, thereby adjusting the optical navigator manually or by a motor drive. pose.
  • the positional relationship determine the relative position relationship diagram between the identification corresponding to the reference marker and the identification corresponding to the target field of view; generate the target pose of the navigator based on the relative position relationship diagram, because the relative position relationship diagram Real-time feedback can be intuitively given to the current adjustment situation of the navigator, and based on the feedback result, it can be more conducive to the adjustment of the navigator, thereby improving the accuracy and efficiency of determining the target pose of the optical navigator.
  • Fig. 13 is an exemplary flow chart of adjusting the pose of an optical navigator based on pose adjustment information according to some embodiments of the present specification. As shown in Fig. 12, the process 1300 includes the following steps. In some embodiments, the process 1300 may be performed by the processing device 110 .
  • Step 1310 determine the pose adjustment information of the optical navigator according to the positional relationship.
  • step 1310 may be performed by a pose determination module.
  • the pose adjustment data can also be presented in the form of pose adjustment information.
  • the pose adjustment information may be information for adjusting the current pose of the navigator.
  • the pose adjustment information may include the adjusted pose of the navigator, the relative positional relationship between the adjusted pose and the reference marker, the speed for adjusting the pose, the time for adjusting the pose, and the like.
  • the pose adjustment information may include direction adjustment information and distance adjustment information.
  • the direction adjustment information is used to indicate the adjustment direction of the navigator, where the direction can be up, down, left, right, or any angle in other directions, for example, a direction of 45 degrees to the left;
  • the distance adjustment information is used to indicate the moving distance to the navigator.
  • the pose determination module can calculate the pose adjustment information of the navigator based on the position relationship.
  • the direction adjustment information and distance adjustment information of the navigator can be calculated based on the positional relationship.
  • the positional information of the reference marker and the coordinate information of the target field of view can be mathematically processed according to the positional relationship, so as to obtain the reference marker
  • the angle and distance between the target field of view and the positional relationship are further combined to determine the direction information corresponding to the angle between the reference marker and the target field of view.
  • the angle between the reference marker and the target field of view is calculated to be 45 degrees, and the distance is 10 cm.
  • the position adjustment information of the navigator can be obtained, which is to move 10cm in the direction of 45 degrees to the left.
  • Step 1320 adjust the pose of the navigator based on the pose adjustment information, so that the reference marker falls within the target field of view of the navigator.
  • step 1320 may be performed by a pose determination module.
  • the pose determination module may adjust the pose of the navigator based on the pose adjustment information of the navigator in any manner, so that the reference marker of the surgical robot is within the target field of view of the navigator.
  • the pose adjustment data can be displayed to users (such as doctors, nurses, etc.) through pictures, animations, prompt information, voice, etc., and the user adjusts the pose of the navigator according to the pose adjustment information , so that the surgical robot's reference marker is within the target field of view of the navigator.
  • the pose adjustment data can generate control instructions based on the pose adjustment information of the navigator, and send the control instructions to the mechanism for adjusting the pose of the navigator, and the mechanism automatically adjusts the pose of the navigator according to the control instructions, so that the operation The robot's reference marker is within the navigator's field of view of the target.
  • the pose adjustment information generated by the positional relationship directly automatically adjusts the pose of the navigator without relying on manual experience to adjust the pose of the navigator, which not only improves the adjustment of the pose of the navigator At the same time, it also improves the efficiency of adjusting the pose of the navigator, and after adjustment, the reference marker of the surgical robot is located within the target field of view of the navigator, which can ensure the reference of the surgical robot during the subsequent space registration process. Markers are always within the field of view of the target, avoiding registration failures. Moreover, calculating the direction adjustment information and distance adjustment information of the navigator based on the positional relationship can more clearly instruct the adjustment operation of the navigator, improving the accuracy and efficiency of adjusting the pose of the navigator.
  • Fig. 14 is an exemplary flow chart of adjusting 1400 the pose of a navigator based on a relative position relationship diagram and pose adjustment data according to some embodiments of the present specification. As shown in FIG. 14, the process 1400 includes the following steps. In some embodiments, the process 1400 may be performed by the processing device 110 .
  • Step 1410 determine the relative positional relationship between the reference marker of the surgical robot and the target field of view of the navigator.
  • step 1410 may be performed by a pose determination module.
  • the relative position relationship diagram can be used to characterize the image of the position information of the reference marker of the surgical robot relative to the navigator. For more descriptions about determining the relative position relationship diagram, reference may be made to FIG. 12 and its related descriptions, which will not be repeated here.
  • Step 1420 adjust the pose of the navigator based on the relative position relationship graph and the pose adjustment data, so that the reference marker of the surgical robot is within the target field of view of the navigator.
  • step 1420 may be performed by a pose determination module.
  • both the relative position relationship graph and the pose adjustment information exist, only one of them can be selected to adjust the pose of the optical navigator.
  • the pose determination module can also jointly adjust the pose of the optical navigator based on the relative position relationship diagram and the pose adjustment information, so as to Keep the reference marker within the target field of view of the optical navigator.
  • the pose determination module can repeatedly generate pose adjustment information based on the relative position relationship graph, adjust the pose of the navigator according to the pose adjustment information, and obtain the adjusted reference markers of the surgical robot and the target field of view of the navigator Based on the adjusted positional relationship, determine the adjusted relative positional relationship diagram until it is determined based on the adjusted relative positional relationship diagram that the reference marker of the surgical robot is located within the target field of view.
  • Fig. 15 is an exemplary flow chart of adjusting the pose of the navigator based on the relative position relationship graph and pose adjustment information according to some embodiments of the present specification. As shown in Fig. 15, the process 1500 includes the following steps. In some embodiments, the process 1500 may be performed by the processing device 110 .
  • Step 1510 adjust the pose of the navigator based on the pose adjustment information, and obtain a new positional relationship between the reference marker and the target field of view of the navigator.
  • step 1510 may be performed by a pose determination module.
  • the pose of the navigator can be adjusted manually or driven by a motor, and the target field of view of the test object and the navigator can be obtained according to the adjusted result
  • the specific acquisition of the new positional relationship may also be based on the new positional information of the reference marker and the target field of view, or may be obtained after processing the new positional information of the reference marker and the target field of view in other ways.
  • Step 1520 based on the new positional relationship, determine a current relative positional relationship diagram between the marker corresponding to the reference marker and the marker corresponding to the target field of view.
  • step 1520 may be performed by a pose determination module.
  • the old relative positional relationship diagram can be refreshed, that is, the reference marker in the relative positional relationship diagram corresponds to The location information of the marker is updated, so as to obtain the current relative positional relationship diagram between the marker corresponding to the reference marker and the marker corresponding to the target field of view.
  • Step 1530 If it is determined based on the current relative position relationship diagram that the reference marker is not within the target field of view, adjust the pose of the navigator based on the current relative position relationship diagram so that the reference marker falls within the target field of view of the navigator .
  • step 1530 may be performed by a pose determination module.
  • the positional relationship determine the relative position relationship diagram between the identification corresponding to the reference marker and the identification corresponding to the target field of view, and the pose adjustment information of the navigator; based on the relative position relationship diagram and pose
  • the adjustment information adjusts the pose of the navigator so that the reference marker falls within the target field of view of the navigator. Since the pose of the navigator can be adjusted based on the relative position relationship graph and the pose adjustment information at the same time, the accuracy and efficiency of adjusting the pose of the navigator are further improved through the cooperation of the two pose adjustment data.
  • Fig. 18 is an exemplary flow chart of adjusting the pose of a navigator based on pose adjustment data according to some embodiments of the present specification. As shown in FIG. 18, the process 1800 includes the following steps. In some embodiments, the process 1800 may be performed by the processing device 110 .
  • the first reference marker can be set on the operating trolley or the object to be detected in the navigation and positioning system of the surgical robot.
  • Step 1810 adjust the pose of the navigator based on the pose adjustment data, so that the first reference marker falls within the first field of view area.
  • step 1810 may be performed by a pose determination module.
  • the pose determination module can generate pose adjustment data based on the positional relationship between the first reference marker and the target field of view of the navigator, and adjust the navigator manually or automatically based on the pose adjustment data.
  • the pose is adjusted so that the first reference marker falls within the first field of view area.
  • the pose determination module can generate a relative position relationship diagram based on the positional relationship between the first reference marker and the target field of view of the navigator, and adjust the pose of the navigator based on the relative position relationship diagram, so that the first reference marker falls within the first field of view area.
  • a relative position relationship diagram based on the position relationship between the first reference marker and the target field of view of the navigator, reference may be made to FIG. 12 and its related descriptions, which will not be repeated here.
  • Step 1820 Adjust the pose of the instrument at the end of the robotic arm based on the pose adjustment data, so that the second reference marker set at the end of the robotic arm falls within the second field of view.
  • step 1820 may be performed by a pose determination module.
  • the second reference marker is set on the instrument at the end of the mechanical arm of the surgical robot navigation and positioning system, and the first field of view area is located inside the second field of view area.
  • the pose determination module can generate pose adjustment data based on the positional relationship between the second reference marker and the target field of view of the navigator, and adjust the mechanical arm manually or automatically based on the pose adjustment data.
  • the pose of the end instrument is adjusted so that the second reference marker falls within the second field of view area.
  • the pose determination module can generate a relative position relationship diagram based on the position relationship between the second reference marker and the target field of view of the navigator, and perform a relative position relationship diagram based on the position and posture of the end-of-manipulator device. Adjust so that the second reference marker falls within the second field of view area.
  • a relative position relationship diagram based on the position relationship between the second reference marker and the target field of view of the navigator.
  • the first reference marker is fixed
  • the second reference marker is fixed on the mechanical arm and can move with the movement of the mechanical arm.
  • the surgical robot navigation and positioning system includes a surgical trolley and a mechanical arm
  • the reference markers include a first reference marker and a second reference marker
  • the first reference marker is set on the surgical trolley or the object to be detected.
  • Two reference markers are arranged at the end of the mechanical arm; the target field of view includes a first field of view area and a second field of view area, the first field of view area is located inside the second field of view area, and in the subsequent positioning of the optical navigator In the process of adjusting the posture, the instrument at the end of the robotic arm can move. Please refer to FIG.
  • the second reference marker D disposed at the end of the mechanical arm can drive the second reference marker to move through the movement of the mechanical arm. Since the first reference marker C is fixed, the pose of the optical navigator can be adjusted based on the pose adjustment data so that the first reference marker falls within the first field of view area.
  • the pose of the end-of-manipulator device can be adjusted manually or by motor drive based on the pose adjustment data, so that the device at the end of the manipulator The second reference marker falls in the second field of view area.
  • the specific adjustment method when adjusting the optical navigator and the end of the mechanical arm based on the pose adjustment data can refer to the above-mentioned embodiment, and will not be repeated here.
  • the pose adjustment data is information for adjusting the pose of the optical navigator, for example, the pose adjustment data is to rotate the optical navigator downward, then this At this time, the general orientation of the field of view of the optical navigator can be determined.
  • the second reference marker needs to fall in the second field of view area, and the second field of view area is the entire field of view range of the optical navigator, after determining the general orientation of the field of view of the optical navigator, the adjustment The pose of the instrument at the end of the robotic arm is such that the second reference marker falls within the second field of view of the optical navigator, which also has a certain guiding effect.
  • the pose of the optical navigator is adjusted based on the pose adjustment data so that the first reference marker falls within the first field of view area;
  • the pose is adjusted so that the second reference marker disposed at the end of the robotic arm falls within the second field of view. Since the second reference marker is fixedly arranged on the mechanical arm and can move with the movement of the mechanical arm, it can also guide the posture adjustment process of the instrument at the end of the mechanical arm according to the posture adjustment data, thereby ensuring the first The two reference markers fall quickly and accurately in the corresponding field of view; and the adjustment method provided by this embodiment is fixed on the mechanical arm and can move with the movement of the mechanical arm. It is also possible to adjust the reference marker to the corresponding field of view area, making the usage scenarios more flexible and diverse. On this basis, it also ensures the successful completion of the subsequent registration and registration process, avoids the risk of registration and registration failure caused by the poor field of view of the optical navigator and then returns to the previous workflow, and improves the stability of the system workflow.
  • the surgical robot may further include other reference markers, for example, a third reference marker disposed in the disinfection area, and the like.
  • the pose determination module can also adjust the pose of the component where the other reference marker is located, so that the other reference marker is located in the corresponding field of view area, wherein the Other reference markers located in the corresponding field of view area may be located inside the second field of view area.
  • the way to adjust the pose of the parts where the other reference markers are located is similar to the way to adjust the pose of the end-of-manipulator device.
  • FIG. 18 and its related descriptions which will not be repeated here.
  • the relative position relationship diagram and pose adjustment information can also be displayed on the display interface.
  • a relative position relationship diagram is displayed in the first display area, and pose adjustment information is displayed in the second display area.
  • the display interface may include a first display area and a second display area, and the display interface may be deployed on system components such as a display, a display panel, etc., the display on which the display interface is deployed is a fixed device, and the display panel on which the display interface is deployed may be The device that can move correspondingly according to the movement of the user; the display interface can also be deployed on the optical navigator or other components in the navigation and positioning system of the surgical robot, which is not specifically limited in this embodiment.
  • the first display area 1910 can display a relative position relationship diagram, and the relative position relationship diagram can be displayed in three views or in a three-dimensional view; the second display area 1920 can display poses Adjustment information.
  • the first display area 1910 can be displayed in three views.
  • the left side is a top view of the relative position relationship diagram.
  • Field of view area the rectangular box inside the hexagon indicates the first field of view area, the first reference marker is marked with "o”, and the second reference mark is marked with " ⁇ ".
  • the middle is the front view of the relative position relationship diagram, in which the shape composed of multiple small polygons represents the second field of view area, the rectangular frame in the middle of the second field of view area represents the first field of view area, the first reference marker and The representation of the second reference marker is the same as the top view above.
  • the right side is the side view of the relative position relationship diagram
  • the small circle on the left in the figure represents the optical navigator
  • the large trapezoid composed of two small trapezoids on the right represents the second field of view area
  • the rectangular frame in the middle of the second field of view area represents the first
  • the first reference marker and the second reference marker are represented in the same way as in the top view above.
  • the pose adjustment information may include but is not limited to be displayed in the second display area corresponding to the dotted frame by means of text and animation. Please continue to refer to FIG. Tracking System, OTS)", which means that the adjustment direction of the optical navigator is downward adjustment.
  • OTS Tracking System
  • the text may also include distance adjustment information, for example, “rotate the OTS 10cm downward”, which means that the adjustment direction of the optical navigator is downward adjustment, and the adjustment distance is 10cm.
  • the display interface may also include a third display area. As shown in FIG. 19 , the third display area is specifically used to display the original image collected by the optical navigator, which may generally be image information such as grayscale images and color images.
  • the content finally displayed on the display interface can be as shown in FIG. "Adjustment complete” is displayed in text form, and the first display area 2010 displays the relative positional relationship diagram after the adjustment is completed.
  • the relative position relationship diagram and pose adjustment information determined based on the position relationship can be displayed in different display areas, providing an interactive display interface for the user, and the user can also operate on the display interface to control the motor Drives the adjustment of the pose of the optical navigator.
  • real-time feedback is provided on the current adjustment situation to optimize user operation experience and enhance operability.
  • the pose adjustment information can be output in the form of voice announcement and/or indicator light.
  • voice equipment such as a microphone (microphone, mic) can be used to broadcast the pose adjustment information; LED indicators can also be used to prompt the pose adjustment information, for example, it can be set in different directions of the optical navigator. At least one LED indicator light, control the LED indicator lights in the corresponding direction to blink according to the adjustment direction in the pose adjustment information, and control the corresponding number of LED indicator lights to blink according to the adjustment distance in the pose adjustment information.
  • the pose adjustment information is output by means of voice broadcast and/or indicator lights, which improves the flexibility and diversity of output pose adjustment information, thereby ensuring the reliability of the output pose adjustment information.
  • the method for calculating the spatial registration pose of the surgical robot may further include generating and displaying adjustment feedback information based on the pose information of the navigator.
  • Fig. 21 is an exemplary flow chart of generating and displaying adjustment feedback information based on pose information of a navigator according to some embodiments of the present specification. As shown in FIG. 21 , the process 2100 includes the following steps. In some embodiments, the process 2100 may be performed by the processing device 110 .
  • Step 2110 obtain the pose information of the reference marker through the pose monitoring equipment installed on the navigator.
  • the posture monitoring device can be an inertial navigation system (Inertial Measurement Unit, IMU), gyroscope and other positioning navigation systems deployed on the navigator, so that the moving speed of the reference marker can be obtained through the inertial navigation system , yaw angle, position and other information; the angle, angular velocity, angular acceleration and other information of the reference marker can be obtained through the gyroscope, and the above information is also the pose information of the reference marker.
  • IMU Inertial Measurement Unit
  • Step 2120 generating adjustment feedback information based on the pose information of the reference marker.
  • the adjustment feedback information includes moving distance information and moving speed information of the reference marker.
  • the moving distance information and moving speed information of the reference marker can be extracted from the pose information of the reference marker, so as to generate adjustment feedback information.
  • the adjustment feedback information is used for real-time feedback and intelligent evaluation of the adjustment effect of the navigator.
  • Step 2130 display the adjustment feedback information on the display interface.
  • the adjustment feedback information can also be displayed on the display interface in the form of text, animation, etc., so as to guide the user to further judge the current adjustment effect.
  • the display interface may further include a fourth display area 2210, and the fourth display area 2210 is specifically used to display adjustment feedback information.
  • the pose information of the reference marker is acquired through a pose monitoring device installed on the navigator; adjustment feedback information is generated based on the pose information of the reference marker; the adjustment feedback information includes the moving distance of the reference marker Information and moving speed information; the adjustment feedback information is displayed on the display interface, so as to further judge the current adjustment effect according to the adjustment feedback information, and optimize the user operation experience.
  • the pose adjustment method of the optical navigator provided by this application can be applied to computer equipment, and the computer equipment can be a server or a terminal, wherein the server can be one server or a server cluster composed of multiple servers.
  • the terminal may be, but not limited to, various personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices.
  • FIG. 23 is a block diagram of a server according to some embodiments of this specification.
  • the computer device includes a processor, a memory, and a network interface connected through a system bus.
  • the processor of the computer device is used to provide calculation and control capabilities.
  • the memory of the computer device includes a non-volatile storage medium and an internal memory.
  • the non-volatile storage medium stores an operating system, computer programs and databases.
  • the internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium.
  • the database of the computer equipment is used to store the pose adjustment data of the optical navigator.
  • the network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a method for adjusting the pose of the optical navigator is realized.
  • FIG. 23 is only a block diagram of a partial structure related to the solution of this application, and does not constitute a limitation on the server on which the solution of this application is applied.
  • the server may include There may be more or fewer components than shown in the figures, or certain components may be combined, or have different component arrangements.
  • the system needs to use the optical navigator E and the registration array to complete the registration and registration of the robotic arm B and the optical navigation coordinate system.
  • the jitter can be compensated by setting a reference array fixed on the operating trolley A.
  • the optical navigator E when compensating the jitter of the optical navigator E through the reference array, if the optical navigator E does not jitter, the acquired position information of the registration array is accurate, and when the optical navigator E jitters , the position information of the obtained registration array will be deviated.
  • the reference array since the reference array is fixed on the operating trolley A, no matter whether the optical navigator E shakes or not, the relative positional relationship between the reference array and the registration array is fixed. Therefore, when the optical navigator E shakes, based on The relative positional relationship determines the real positional information of the registration array, so as to realize the compensation for the unexpected shaking of the optical navigator E.
  • numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of the embodiments use the modifiers "about”, “approximately” or “substantially” in some examples. grooming. Unless otherwise stated, “about”, “approximately” or “substantially” indicates that the stated figure allows for a variation of ⁇ 20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximations that can vary depending upon the desired characteristics of individual embodiments. In some embodiments, numerical parameters should take into account the specified significant digits and adopt the general digit reservation method. Although the numerical ranges and parameters used in some embodiments of this specification to confirm the breadth of the range are approximations, in specific embodiments, such numerical values are set as precisely as practicable.

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Veterinary Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)

Abstract

一种手术机器人的空间注册位姿计算方法（200）和系统，方法（200）包括：确定导航仪的目标视野范围（210）；基于目标视野范围，对导航仪的位姿进行调整（220）；根据目标视野范围以及手术机器人的机械臂末端器械的位姿，确定手术机器人的空间注册位姿（230）。

Description

一种手术机器人的空间注册位姿计算方法和系统
优先权声明
本申请要求2021年9月14日提交的中国专利申请号202111072944.6的优先权及2022年4月21日提交的中国专利申请号202210423164.X的优先权，其内容全部通过引用并入本文。
技术领域
本说明书涉及医疗设备领域，特别涉及一种手术机器人的空间注册位姿计算方法和系统。
背景技术
手术精度对于手术至关重要。为了满足临床需求，各种类型的手术机器人相继出现，相对于传统手术，手术机器人能显著地提升手术精度。然而，在使用手术机器人的导航仪进行实时检测和追踪目标物体之前，通常需要操作人员根据经验将导航仪的位姿调整到期望的状态，增加了医务人员的工作负担及手术成本且效率较低。
因此，需要提供一种手术机器人的空间注册位姿计算方法和系统，用于快速且准确地实现手术机器人的空间注册位姿计算。
发明内容
本说明书实施例之一提供一种手术机器人的空间注册位姿计算方法，所述方法包括：确定导航仪的目标视野范围，基于所述目标视野范围，对所述导航仪的位姿进行调整，根据所述目标视野范围以及所述手术机器人的机械臂末端器械的位姿，确定所述手术机器人的空间注册位姿。
在一些实施例中，通过确定导航仪的目标视野范围，基于目标视野范围，对导航仪的位姿进行调整，根据目标视野范围以及手术机器人的机械臂末端器械的位姿，确定手术机器人的空间注册位姿，避免因手术机器人的机械臂末端器械位于导航仪的视野范围外，导致注册失败的同时，使得手术机器人的机械臂末端器械在导航仪的较优的视野范围(即目标视野范围)内，提高注册精度。
在一些实施例中，获取所述导航仪的初始感受野，获取空间范围约束条件，根据所述空间范围约束条件对所述初始感受野进行约束，得到所述导航仪的目标视野范围。
在一些实施例中，通过获取导航仪的初始感受野及空间范围约束条件，根据空间范围约束条件对所述初始感受野进行约束，可以快速且准确地确定导航仪的目标视野范围。
在一些实施例中，所述空间范围约束条件包括机械臂约束条件、目标对象约束条件以及导航仪视野约束条件中的至少一种。
在一些实施例中，所述获取空间范围约束条件，根据所述空间范围约束条件对所述初始感受野进行约束，得到所述导航仪的目标视野范围包括：建立用于描述所述目标视野范围的空间范围的目标函数；通过最优化计算方法，根据所述空间范围约束条件对所述目标函数进行约束计算；根据约束计算后的目标函数确定所述目标视野范围。
在一些实施例中，通过建立用于描述目标视野范围的空间范围的目标函数，并通过最优化计算方法，根据空间范围约束条件对目标函数进行约束计算，可以根据约束计算后的目标函数快速确定较为准确的目标视野范围。
在一些实施例中，所述基于所述目标视野范围，对所述导航仪的位姿进行调整，包括：所述基于所述目标视野范围，对所述导航仪的位姿进行调整，包括：确定所述导航仪的目标视野范围后，根据所述目标视野范围调整所述导航仪的摆位，使得所述手术机器人的机械臂末端器械位于所述目标视野范围内。
在一些实施例中，确定导航仪的目标视野范围后，根据目标视野范围调整导航仪的摆位，使得手术机器人的机械臂末端器械位于目标视野范围内，可以使得后续进行手术机器人空间注册时，手术机器人的机械臂末端器械始终位于目标视野范围内，避免注册失败。
在一些实施例中，所述根据目标视野范围、导航仪的目标位姿以及手术机器人的机械臂末端器械的位姿，确定所述手术机器人的空间注册位姿，包括：获取所述机械臂末端器械的多个位置坐标和多个旋转姿态；根据所述多个位置坐标和所述多个旋转姿态，确定所述手术机器人的空间注册位姿。
在一些实施例中，通过获取机械臂末端器械的多个初始旋转姿态，将多个初始旋转姿态均向同一方向进行偏转，可以快速得到多个旋转姿态。
在一些实施例中，获取所述机械臂末端器械的多个旋转姿态，包括：获取所述机械臂末端器械 的多个初始旋转姿态；将所述多个初始旋转姿态均向同一方向进行偏转，得到所述多个旋转姿态。
在一些实施例中，所述获取所述机械臂末端器械的多个初始旋转姿态，包括：获取所述机械臂末端器械的最大姿态范围；在所述最大姿态范围下，根据所述机械臂末端器械的姿态数量和/或姿态离散度确定所述机械臂末端器械的多个初始旋转姿态。
在一些实施例中，所述方法还包括：获取所述手术机器人中各个坐标系之间的转换关系。
在一些实施例中，基于目标视野范围，对导航仪的位姿进行调整，包括：确定手术机器人的空间注册位姿之前，获取手术机器人的参考标记物与导航仪的目标视野范围之间的位置关系；根据位置关系生成位姿调节数据，并基于位姿调节数据对导航仪的位姿进行调整，以使参考标记物落在导航仪的目标视野范围内。
在一些实施例中，通过获取手术机器人的参考标记物与导航仪的目标视野范围之间的位置关系，根据位置关系可以较为快速且准确地生成位姿调节数据，并根据位姿调节数据对导航仪的位姿进行调整，减少因导航仪视场不佳而造成的空间注册失败的风险。
在一些实施例中，所述根据位置关系生成位姿调节数据，并基于位姿调节数据对导航仪的位姿进行调整，包括：根据所述位置关系，确定所述参考标记物对应的标识与所述目标视野范围对应的标识之间的相对位置关系图及位姿调整信息，根据所述相对位置关系图及所述位姿调整信息对所述导航仪的位姿进行调整。
在一些实施例中，通过位置关系所生成的位姿调节数据，直接对导航仪的位姿进行自动调整，不依赖于人工经验去调整导航仪的位姿，不仅提高了调整导航仪的位姿的准确率，同时也提高了调整导航仪的位姿的效率，并且，调整后使手术机器人的参考标记物位于导航仪的目标视野范围内，可以保证后续进行空间注册过程中，手术机器人的参考标记物始终位于目标视野范围内，避免注册失败。在一些实施例中，所述根据所述相对位置关系图及所述位姿调整信息对所述导航仪的位姿进行调整，包括：基于所述位姿调整信息对所述导航仪的位姿进行调整，并获取所述参考标记物与所述导航仪的目标视野范围之间的新的位置关系；基于所述新的位置关系，确定所述参考标记物对应的标识与所述目标视野范围对应的标识之间的当前相对位置关系图；若基于所述当前相对位置关系图确定所述参考标记物不在所述目标视野范围内，则基于所述当前相对位置关系图对所述导航仪的位姿进行调整，以使所述参考标记物落在所述导航仪的目标视野范围内。
在一些实施例中，通过基于位姿调整信息对导航仪的位姿进行调整，并获取参考标记物与导航仪的目标视野范围之间的新的位置关系；基于新的位置关系，确定参考标记物对应的标识与目标视野范围对应的标识之间的当前相对位置关系图；若基于当前相对位置关系图确定参考标记物不在目标视野范围内，则基于当前相对位置关系图对导航仪的位姿进行调整，可以更加直观地获取每一次导航仪的位姿调整后，手术机器人的参考标记物与导航仪的目标视野范围之间的位置关系，从而确保导航仪的位姿调整后，手术机器人的参考标记物位于目标视野范围内。
在一些实施例中，所述参考标记物包括第一参考标记物和第二参考标记物，所述根据所述位置关系生成位姿调节数据，并基于所述位姿调节数据对所述导航仪的位姿进行调整，包括：基于所述目标位姿对所述导航仪的位姿进行调整，以使第一参考标记物落在第一视场区域内，并使第二参考标记物落在第二视场区域内；其中，所述第一参考标记物和所述第二参考标记物分别位于所述手术机器人的不同部位，所述第二视场区域为所述目标视野范围或位于所述目标视野范围内，所述第一视场区域位于所述目标视野范围内。
在一些实施例中，所述参考标记物包括第一参考标记物和第二参考标记物，所述根据所述位置关系生成位姿调节数据，并基于所述位姿调节数据对所述导航仪的位姿进行调整，包括：基于所述位姿调节数据对所述导航仪的位姿进行调整，以使第一参考标记物落在第一视场区域内；基于所述位姿调节数据对所述机械臂末端器械的位姿进行调整，以使设置于所述机械臂末端的第二参考标记物落在第二视场区域内；其中，所述第一参考标记物设置于所述手术机器人的手术台车或目标对象上，所述第二参考标记物设置于所述手术机器人的机械臂末端上，所述第二视场区域为所述目标视野范围，所述第一视场区域位于所述第二视场区域的内部。
在一些实施例中，基于位姿调节数据对导航仪的位姿进行调整，以使第一参考标记物落在第一视场区域内，使得后续进行空间注册的过程中，第一参考标记物始终位于目标视野范围内；在导航仪的位姿调整完成后，基于位姿调节数据对所述机械臂末端器械的位姿进行调整，可以较为快速且准确得使设置于机械臂末端的第二参考标记物落在第二视场区域内，保证了后续空间注册的顺利完成，避免因导航仪视场不佳而造成的空间注册失败的风险。
在一些实施例中，所述方法还包括：在第一显示区域内展示所述相对位置关系图，在第二显示区域内展示所述目标位姿。
在一些实施例中，所述方法还包括：通过位姿监控设备，获取所述导航仪的位姿信息；基于所述导航仪的位姿信息生成调整反馈信息；所述调整反馈信息包括所述导航仪的移动距离信息和移动速度信息；将所述调整反馈信息展示在显示界面上。
在一些实施例中，调整反馈信息展示在显示界面上，可以为用户(例如，医生、护士等)对导航仪的位姿的调节效果进行进一步判断提供参考。
在一些实施例中，所述获取手术机器人的参考标记物与所述目标视野范围之间的位置关系，包括：获取所述手术机器人的参考标记物相对于所述导航仪的位置信息；获取所述导航仪的目标视野范围；基于所述位置信息计算所述参考标记物与所述目标视野范围之间的位置关系。
本说明书实施例之一提供一种手术机器人的空间注册位姿计算系统，所述系统包括：范围确定模块，用于确定导航仪的目标视野范围；位姿确定模块，用于基于所述目标视野范围，对所述导航仪的位姿进行调整；位姿注册模块，用于根据目标视野范围、导航仪的目标位姿以及手术机器人的机械臂末端器械的初始位姿，确定所述手术机器人的空间注册位姿。
本说明书实施例之一提供一种手术机器人的空间注册位姿计算装置，包括处理器，所述处理器用于执行上述的手术机器人的空间注册位姿计算方法。
本说明书实施例之一提供一种计算机可读存储介质，所述存储介质存储计算机指令，当计算机读取存储介质中的计算机指令后，计算机执行上述的手术机器人的空间注册位姿计算方法。
本说明书实施例之一提供一种视觉导航仪感受野获取方法，包括：获取手术机器人中导航仪的第一感受野；获取空间范围约束条件，根据所述空间范围约束条件对所述第一感受野进行约束，得到所述导航仪的第二感受野。
在一些实施例中，所述空间范围约束条件包括机械臂约束条件、患者约束条件以及导航仪视野约束条件中的至少一种。
在一些实施例中，所述获取空间范围约束条件，根据所述空间范围约束条件对所述第一感受野进行约束，得到所述导航仪的第二感受野包括：建立用于描述所述第二感受野的空间范围的目标函数；通过最优化计算方法，根据所述空间范围约束条件对所述目标函数进行约束计算；根据约束计算后的目标函数确定所述第二感受野。
在一些实施例中，在得到所述导航仪的第二感受野之后，所述方法包括：根据所述第二感受野调整所述导航仪的摆位，使得所述手术机器人的机械臂末端器械位于所述第二感受野内。
本说明书实施例之一提供一种手术机器人的空间注册位姿计算方法，包括：获取手术机器人中导航仪的第一感受野；获取空间范围约束条件，根据所述空间范围约束条件对所述第一感受野进行约束，得到所述导航仪的第二感受野；结合所述第二感受野，以及所述手术机器人的机械臂末端器械的位姿，确定所述手术机器人的空间注册位姿。
在一些实施例中，所述结合所述第二感受野，以及所述手术机器人的机械臂末端器械的位姿，确定所述手术机器人的空间注册位姿包括：获取所述手术机器人的机械臂末端器械的多个位置坐标和旋转姿态，多个所述旋转姿态构成所述机械臂末端器械的目标方向集；根据多个所述位置坐标和所述目标方向集中的多个旋转姿态，确定所述手术机器人的空间注册位姿，其中，所述位置坐标和所述旋转姿态对应。
在一些实施例中，所述获取所述手术机器人的机械臂末端器械的多个位置坐标和旋转姿态，多个所述旋转姿态构成所述机械臂末端器械的目标方向集包括：获取所述机械臂末端器械的初始方向集，所述初始方向集包括多个初始旋转姿态；将所述初始方向集中的多个初始旋转姿态均向同一方向进行偏转，得到所述机械臂末端器械的目标方向集。
在一些实施例中，所述获取所述机械臂末端器械的初始方向集包括：获取所述导航仪识别的机械臂末端器械的最大姿态范围；在所述最大姿态范围下，根据所述机械臂末端器械的姿态数量和/或姿态离散度确定所述机械臂末端器械的初始方向集。
在一些实施例中，在所述获取空间范围约束条件，根据所述空间范围约束条件对所述第一感受野进行约束，得到所述导航仪的第二感受野之前，所述方法还包括：获取所述手术机器人中各个坐标系之间的转换关系，其中，所述手术机器人的坐标系包括以下坐标系中的至少部分坐标系：机械臂坐标系、导航仪坐标系、机械臂末端坐标系以及机械臂末端传感器坐标系。
本说明书实施例之一提供一种手术机器人，包括导航仪、机械臂和处理器：所述处理器获取所述导航仪的第一感受野；所述处理器获取空间范围约束条件，根据所述空间范围约束条件对所述第一感受野进行约束，得到所述导航仪的第二感受野。
本说明书实施例之一提供一种视觉导航仪感受野获取设备，包括获取模块和约束模块：所述获取模块，用于获取手术机器人中导航仪的第一感受野；所述约束模块，用于获取空间范围约束条件，根 据所述空间范围约束条件对所述第一感受野进行约束，得到所述导航仪的第二感受野。
本说明书实施例之一提供一种电子装置，包括存储器和处理器，所述存储器中存储有计算机程序，所述处理器被设置为运行所述视觉导航仪感受野获取方法或者手术机器人的空间注册位姿计算方法。
本说明书实施例之一提供一种存储介质，所述存储介质中存储有计算机程序，其中，所述计算机程序被设置为运行时执行所述视觉导航仪感受野获取方法或者所述手术机器人的空间注册位姿计算方法的步骤。
本说明书实施例之一提供一种光学导航仪的位姿调整方法，所述方法包括：获取手术机器人导航定位系统的参考标记物与所述手术机器人导航定位系统的光学导航仪的目标视场区域之间的位置关系；根据所述位置关系生成位姿调节数据，并基于所述位姿调节数据对所述光学导航仪的位姿进行调整，以使所述参考标记物落在所述光学导航仪的目标视场区域内。
在一些实施例中，所述根据所述位置关系生成位姿调节数据，并基于所述位姿调节数据对所述光学导航仪的位姿进行调整，以使所述参考标记物落在所述光学导航仪的目标视场区域内，包括：根据所述位置关系，确定所述参考标记物对应的标识与所述目标视场区域对应的标识之间的相对位置关系图；基于所述相对位置关系图对所述光学导航仪的位姿进行调整，以使所述参考标记物落在所述光学导航仪的目标视场区域内。
在一些实施例中，所述根据所述位置关系生成位姿调节数据，并基于所述位姿调节数据对所述光学导航仪的位姿进行调整，以使所述参考标记物落在所述光学导航仪的目标视场区域内，还包括：根据所述位置关系，确定所述光学导航仪的位姿调整信息；基于所述位姿调整信息对所述光学导航仪的位姿进行调整，以使所述参考标记物落在所述光学导航仪的目标视场区域内。
在一些实施例中，所述根据所述位置关系生成位姿调节数据，并基于所述位姿调节数据对所述光学导航仪的位姿进行调整，以使所述参考标记物落在所述光学导航仪的目标视场区域内，还包括：根据所述位置关系，确定所述参考标记物对应的标识与所述目标视场区域对应的标识之间的相对位置关系图，及所述光学导航仪的位姿调整信息；基于所述相对位置关系图和所述位姿调整信息对所述光学导航仪的位姿进行调整，以使所述参考标记物落在所述光学导航仪的目标视场区域内。
在一些实施例中，所述基于所述相对位置关系图和所述位姿调整信息对所述光学导航仪的位姿进行调整，以使所述参考标记物落在所述光学导航仪的目标视场区域内，包括：基于所述位姿调整信息对所述光学导航仪的位姿进行调整，并获取所述参考标记物与所述光学导航仪的目标视场区域之间的新的位置关系；基于所述新的位置关系，确定所述参考标记物对应的标识与所述目标视场区域对应的标识之间的当前相对位置关系图；若基于所述当前相对位置关系图确定所述参考标记物不在所述目标视场区域内，则基于所述当前相对位置关系图对所述光学导航仪的位姿进行调整，以使所述参考标记物落在所述光学导航仪的目标视场区域内。
在一些实施例中，所述位姿调整信息包括方向调整信息及距离调整信息；所述根据所述位置关系，确定所述光学导航仪的位姿调整信息，包括：基于所述位置关系计算所述光学导航仪的方向调整信息及距离调整信息。
在一些实施例中，所述基于所述位姿调节数据对所述光学导航仪的位姿进行调整，以使所述参考标记物落在所述光学导航仪的目标视场区域内，包括：基于所述位姿调节数据对所述光学导航仪的位姿进行调整，以使第一参考标记物落在第一视场区域内，并使第二参考标记物落在第二视场区域内；其中，所述第一参考标记物设置于手术机器人导航定位系统的手术台车或待检测对象上，所述第二参考标记物设置于所述手术机器人导航定位系统的机械臂的末端，所述第一视场区域位于所述第二视场区域的内部。
在一些实施例中，所述基于所述位姿调节数据对所述光学导航仪的位姿进行调整，以使所述参考标记物落在所述光学导航仪的目标视场区域内，包括：基于所述位姿调节数据对所述光学导航仪的位姿进行调整，以使第一参考标记物落在第一视场区域内；基于所述位姿调节数据对机械臂末端的位姿进行调整，以使设置于所述机械臂末端的第二参考标记物落在第二视场区域内；其中，所述第一参考标记物设置于手术机器人导航定位系统的手术台车或待检测对象上，所述第二参考标记物设置于所述手术机器人导航定位系统的机械臂的末端，所述第一视场区域位于所述第二视场区域的内部。
在一些实施例中，所述方法还包括：在第一显示区域内展示所述相对位置关系图，在第二显示区域内展示所述位姿调整信息。
在一些实施例中，所述方法还包括：通过设置在所述光学导航仪上的位姿监控设备，获取所述参考标记物的位姿信息；基于所述参考标记物的位姿信息生成调整反馈信息；所述调整反馈信息包括所述参考标记物的移动距离信息和移动速度信息；将所述调整反馈信息展示在显示界面上。
在一些实施例中，所述获取手术机器人导航定位系统的参考标记物与手术机器人导航定位系统 的光学导航仪的目标视场区域之间的位置关系，包括：获取所述手术机器人导航定位系统的参考标记物相对于所述手术机器人导航定位系统的光学导航仪的位置信息；获取所述光学导航仪的目标视场区域；基于所述位置信息计算所述参考标记物与所述光学导航仪的目标视场区域之间的位置关系。
本说明书实施例之一提供一种光学导航仪的位姿调整系统，所述系统包括参考标记物、光学导航仪和计算机设备，所述光学导航仪与所述计算机设备通信连接，其中：所述光学导航仪，用于采集所述参考标记物的位置信息，并将所述位置信息发送至所述计算机设备；所述计算机设备，用于基于所述位置信息计算所述参考标记物与所述光学导航仪的目标视场区域之间的位置关系；根据所述位置关系生成位姿调节数据，并基于所述位姿调节数据对所述光学导航仪的位姿进行调整，以使所述参考标记物落在所述光学导航仪的目标视场区域内。
在一些实施例中，所述参考标记物包括第一参考标记物和第二参考标记物，所述第一参考标记物设置于手术机器人导航定位系统的手术台车或待检测对象上，所述第二参考标记物设置于所述手术机器人导航定位系统的机械臂的末端。
在一些实施例中，所述系统还包括显示器，所述显示器用于展示所述位姿调节数据；所述位姿调节数据包括相对位置关系图及位姿调整信息中的至少一种，所述位姿调节数据是基于所述位置关系所确定的。
本说明书实施例之一提供一种计算机设备，包括存储器和处理器，所述存储器存储有计算机程序，其特征在于，所述处理器执行所述计算机程序时实现上述光学导航仪的位姿调整方法。
本说明书实施例之一提供一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现上述光学导航仪的位姿调整方法。
附图说明
本说明书将以示例性实施例的方式进一步说明，这些示例性实施例将通过附图进行详细描述。这些实施例并非限制性的，在这些实施例中，相同的编号表示相同的结构，其中：
图1是根据本说明书一些实施例所示的手术机器人的空间注册位姿计算系统的应用场景示意图；
图2是根据本说明书一些实施例所示的手术机器人的空间注册位姿计算方法的示例性流程图；
图3是根据本说明书一些实施例所示的确定导航仪的目标视野范围的示例性流程图；
图4是根据本说明书一些实施例所示的根据空间范围约束条件对初始感受野进行约束得到导航仪的目标视野范围的示例性流程图；
图5是根据本说明书一些实施例所示的感受野的示意图；
图6是根据本说明书一些实施例所示的确定手术机器人的空间注册位姿的示例性流程图；
图7是根据本说明书一些实施例所示的基于手术机器人中各个坐标系之间的转换关系确定手术机器人的注册位姿的示例性流程图；
图8是根据本说明书一些实施例所示的视觉导航仪感受野获取方法的终端的硬件结构框图；
图9是根据本说明书一些实施例所示的视觉导航仪感受野获取设备的结构框图；
图10是根据本说明书一些实施例所示的根据目标视野范围确定导航仪的目标位姿500的示例性流程图；
图11是根据本说明书一些实施例所示的基于手术机器人的参考标记物相对于导航仪的位置信息计算参考标记物与目标视野范围之间的位置关系的示例性流程图；
图12是根据本说明书一些实施例所示的基于相对位置关系图生成位姿调整信息，并根据位姿调整信息对所述导航仪的位姿进行调整的示例性流程图；
图13是根据本说明书一些实施例所示的基于位姿调整信息对光学导航仪的位姿进行调整的示例性流程图；
图14是根据本说明书一些实施例所示的基于相对位置关系图和位姿调节数据对导航仪的位姿进行调整的示例性流程图；
图15是根据本说明书一些实施例所示的基于相对位置关系图以及位姿调整信息对导航仪的位姿进行调整的示例性流程图；
图16是根据本说明书一些实施例所示的参考标记物的示意图；
图17是根据本说明书一些实施例所示的第一视场区域和第二视场区域的示意图；
图18是根据本说明书一些实施例所示的基于位姿调节数据对导航仪的位姿进行调整的示例性流程图；
图19是根据本说明书一些实施例所示的显示界面的示意图；
图20是根据本说明书另一些实施例所示的显示界面的示意图；
图21是根据本说明书一些实施例所示的基于导航仪的位姿信息生成调整反馈信息并进行显示的示例性流程图；
图22是根据本说明书一些实施例所示的第四显示区域的示意图；
图23是根据本说明书一些实施例所示的服务器的框图。
具体实施方式
为了更清楚地说明本说明书实施例的技术方案，下面将对实施例描述中所需要使用的附图作简单的介绍。显而易见地，下面描述中的附图仅仅是本说明书的一些示例或实施例，对于本领域的普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图将本说明书应用于其它类似情景。除非从语言环境中显而易见或另做说明，图中相同标号代表相同结构或操作。
应当理解，本文使用的“系统”、“装置”、“单元”和/或“模块”是用于区分不同级别的不同组件、元件、部件、部分或装配的一种方法。然而，如果其他词语可实现相同的目的，则可通过其他表达来替换所述词语。
如本说明书和权利要求书中所示，除非上下文明确提示例外情形，“一”、“一个”、“一种”和/或“该”等词并非特指单数，也可包括复数。一般说来，术语“包括”与“包含”仅提示包括已明确标识的步骤和元素，而这些步骤和元素不构成一个排它性的罗列，方法或者设备也可能包含其它的步骤或元素。
本说明书中使用了流程图用来说明根据本说明书的实施例的系统所执行的操作。应当理解的是，前面或后面操作不一定按照顺序来精确地执行。相反，可以按照倒序或同时处理各个步骤。同时，也可以将其他操作添加到这些过程中，或从这些过程移除某一步或数步操作。
图1是根据本说明书一些实施例所示的手术机器人的空间注册位姿计算系统的应用场景100示意图。
如图1所示，在一些实施例中，应用场景100可以包括处理设备110、网络120、用户终端130、存储设备140及手术机器人150。应用场景100可以通过实施本说明书中披露的方法和/或过程实现手术机器人的空间注册位姿计算。
处理设备110可以用于处理与手术机器人的空间注册位姿计算相关的信息和/或数据。例如，处理设备110可以确定手术机器人150的导航仪151的目标视野范围，基于目标视野范围对导航仪151的位姿进行调整，根据目标视野范围以及手术机器人150的机械臂152末端器械的位姿，确定手术机器人150的空间注册位姿。又例如，处理设备110可以获取导航仪151的初始感受野，并获取空间范围约束条件，根据空间范围约束条件对初始感受野进行约束，得到导航仪151的目标视野范围。又例如，处理设备110可以获取手术机器人150的机械臂152末端器械与导航仪151的目标视野范围之间的位置关系，根据位置关系生成位姿调节数据，并根据位姿调节数据控制导航仪151进行摆位。
在一些实施例中，处理设备110可以是区域的或者远程的。例如，处理设备110可以通过网络120访问存储于用户终端130、存储设备140及手术机器人150中的信息和/或资料。在一些实施例中，处理设备110可以直接与用户终端130、存储设备140及手术机器人150连接以访问存储于其中的信息和/或资料。在一些实施例中，处理设备110可以包含处理器。该处理器可以处理与手术机器人的空间注册位姿计算有关的数据和/或信息以执行一个或多个本申请中描述的功能。例如，处理器可以接收用户终端130或手术机器人150发送的手术机器人的空间注册位姿计算请求信号，向手术机器人150发送控制指令控制导航仪151进行摆位。
在一些实施例中，处理设备110可以包括范围确定模块、位姿确定模块及位姿注册模块。
范围确定模块可以用于确定导航仪的目标视野范围。在一些实施例中，范围确定模块可以获取导航仪151的初始感受野，并获取空间范围约束条件，根据空间范围约束条件对初始感受野进行约束，得到导航仪151的目标视野范围。
位姿确定模块可以用于根据目标视野范围，对导航仪151的位姿进行调整。在一些实施例中，位姿确定模块可以获取手术机器人150的机械臂152末端器械与导航仪151的目标视野范围之间的位置关系，根据位置关系生成位姿调节数据，并基于位姿调节数据对导航仪151的位姿进行调整，以使参考标记物落在导航仪151的目标视野范围内。
位姿注册模块可以用于根据目标视野范围以及手术机器人150的机械臂152末端器械的初始位姿，确定手术机器人150的空间注册位姿。在一些实施例中，位姿注册模块可以获取机械臂152末端器械的多个位姿对，其中，位姿对包括一个位置坐标和位置坐标对应的至少一个旋转姿态；根据多个位姿对，确定手术机器人150的空间注册位姿。
关于范围确定模块、位姿确定模块及位姿注册模块的更多描述可以参见图2及其相关描述，此处不再赘述。
需要注意的是，以上对于处理设备110及其模块的描述，仅为描述方便，并不能把本说明书限制在所举实施例范围之内。可以理解，对于本领域的技术人员来说，在了解处理设备110的原理后，可能在不背离这一原理的情况下，对各个模块进行任意组合，或者构成子系统与其他模块连接。在一些实施例中，图1中披露的范围确定模块、位姿确定模块及位姿注册模块可以是一个系统中的不同模块，也可以是一个模块实现上述的两个或两个以上模块的功能。例如，各个模块可以共用一个存储模块，各个模块也可以分别具有各自的存储模块。诸如此类的变形，均在本说明书的保护范围之内。
网络120可促进应用场景100中数据和/或信息的交换。在一些实施例中，应用场景100中的一个或多个组件(例如，处理设备110、用户终端130、存储设备140及手术机器人150)可以通过网络120发送数据和/或信息给应用场景100中的其他组件。例如，手术机器人150获取的导航仪的视野范围可以通过网络120传输至处理设备110。在一些实施例中，网络120可以是有线网络或无线网络中的任意一种或多种。在一些实施例中，网络120可以包括一个或以上网络接入点。例如，网络120可以包括有线或无线网络接入点，例如，基站和/或网络交换点，通过这些网络接入点，应用场景100的一个或多个组件可连接到网络120以交换数据和/或信息。
用户终端130可以输入和/或输出相关信息或数据。用户可以通过用户终端130获取相关信息或数据。例如，用户可以通过用户终端130从处理设备110获取确定的手术机器人150的空间注册位姿。在一些实施例中，用户终端130可以包含但不限于智能电话、平板电脑、膝上型计算机、台式计算机等。
存储设备140可以存储资料和/或指令。在一些实施例中，存储设备140可以存储从处理设备110、用户终端130及手术机器人150获取的资料和/或指令。在一些实施例中，存储设备140可以存储供处理设备110执行或使用的信息和/或指令，以执行本申请中描述的示例性的方法。例如，处理设备110可以根据存储设备140存储的指令根据。
在一些实施例中，存储设备140可以与网络120连接以实现与应用场景100的一个或多个组件(例如，处理设备110、用户终端130及手术机器人150等)通讯。应用场景100的一个或多个组件可以通过网络120访问存储于存储设备140中的资料或指令确定手术机器人150的导航仪151的目标视野范围，对导航仪151的位姿进行调整，根据目标视野范围以及手术机器人150的机械臂152末端器械的位姿，确定手术机器人150的空间注册位姿。在一些实施例中，存储设备140可以直接与应用场景100中的一个或多个组件(如，处理设备110、用户终端130及手术机器人150等)连接或通讯。
手术机器人150可以为用于辅助进行手术的设备，例如，手术机器人可以辅助医生进行神经外科手术、骨科手术等。手术机器人150可以在手术中实时检测和追踪目标物体(例如，目标对象的待手术部位、机械臂152末端器械等)，从而辅助医生进行手术操作。在一些实施例中，手术机器人150包括导航仪151、机械臂152、目标对象支撑装置153(例如，扫描床、手术床、手术台车等)及参考标记物(图中未示出)。导航仪用于获取手术机器人的机械臂152末端器械的位置和目标对象支撑装置153上的目标对象的待手术部位的位置。在一些实施例中，导航仪151可以包括光学导航仪、电磁导航仪等，其中，光学导航仪包括双目光学导航仪、三目光学导航仪和结构光导航仪等。
机械臂152可以为用于放置器械的设备，器械可以设置在机械臂152末端，其中，器械可以为参考标记物(例如，第二参考标记物)、手术器械等。机械臂152末端上的参考标记物可以为容易识别的光学标记物。例如，可反射近红外光的光学小球。在一些实施例中，机械臂152末端设置有手术器械时，参考标记物可以设置在机械臂152末端的手术器械上。
目标对象可以包括人体、动物、模体等。目标对象支撑装置153上的目标对象的待手术部位可以包括但不限于头部、四肢、腹部等，目标对象支撑装置153上的目标对象设置有参考标记物。例如，目标对象的待手术部位上可以设置有参考标记物。
在一些实施例中，手术机器人150在对目标对象支撑装置153上的目标对象的待手术部位进行辅助手术之前，需要先在目标视野范围内对机械臂152进行空间注册，利用导航仪151对机械臂152末端器械(例如，参考标记物)和目标对象支撑装置153上的目标对象的待手术部位上的标记物的追踪，可以获取机械臂152末端器械和目标对象支撑装置153上的目标对象的待手术部位的实时位姿，以将机械臂152末端器械的位置和目标对象支撑装置153上的目标对象的待手术部位的位置进行匹配，提高手术的准确率。其中，机械臂152末端上的参考标记物和目标对象上的参考标记物均需要保持在导航仪151的视野范围内。在一些实施例中，目标对象上的参考标记物需要位于导航仪151的视野范围内的一个最优小范围(例如，第一视场区域)内，机械臂152末端上的参考标记物在导航仪151的视野范围内的位置可以不限定。在一些实施例中，机械臂152末端上的参考标记物需要位于导航仪151的视野范围内的一个最优小范围内，例如，机械臂152末端上的参考标记物需要位于基于空间范围约束条件确定的导航仪151的视野范围内的一个最优小范围，目标对象上的参考标记物在导航仪151的视野范围内位置的可以不限定。
在一些实施例中，机械臂152末端上的参考标记物和目标对象上的参考标记物均需要保持在导航 仪151的目标视野范围内，目标视野范围可以是导航仪151的整个视野范围，也可以是导航仪151的视野范围内的一个区域。通过确定目标视野范围，可以使导航仪151能够时刻获取到机械臂152末端器械的位姿，从而避免机械臂152末端器械超出导航仪151的感受野范围，导致注册失败。解决了在手术前对手术机器人150进行空间注册，容易导致手术中机械臂152末端器械(例如，参考标记物)超出导航仪151的感受野的问题，实现了手术机器人150的机械臂152末端器械保持在导航仪151视野内，提高注册成功率。
如图1所示，在一些实施例中，在对目标对象支撑装置153(例如，扫描床、手术床等)上的目标对象进行手术之前，需要先在导航仪151的感受野下对机械臂152进行空间注册。其中，目标对象支撑装置153上的目标对象包括但不限于头部、四肢、腹部等等，目标对象表面固定有导航仪器能够捕捉的传感器。导航仪器具有固定装置，虚线区域1511表示导航仪151的感受野(也可称为初始感受野)。机械臂152上具有末端器械，末端器械可以为能被导航仪器捕捉三维位置的传感器，基于该三维位置可建立机械臂末端器械坐标系。
在一些实施例中，导航仪151的位姿可以基于目标视野范围进行调整。通过对导航仪151的位姿进行自动调整，不依赖于人工经验去调整导航仪151的位姿，提高了调整导航仪151的位姿的准确率及效率。
在一些实施例中，手术机器人150的空间注册位姿可以根据目标视野范围以及手术机器人的机械臂末端器械的位姿确定。通过根据目标视野范围以及手术机器人的机械臂末端器械的位姿，确定空间注册位姿，实现避免机械臂152末端器械超出导航仪151的感受野范围，导致注册失败，提高注册成功率。
应该注意的是，上述描述仅出于说明性目的而提供，并不旨在限制本申请的范围。对于本领域普通技术人员而言，在本申请内容的指导下，可做出多种变化和修改。可以以各种方式组合本申请描述的示例性的实施例的特征、结构、方法和其他特征，以获得另外的和/或替代的示例性的实施例。
在一些实施例中，通常需要操作人员根据经验将导航仪的位姿调整到期望的状态，导航仪的摆位不适宜时，常常会导致手术机器人进行空间注册过程中，机械臂末端器械和/或目标对象的待手术部位位于导航仪视野外的情况发生，无法实现机械臂末端器械和/或目标对象的待手术部位的实时检测和追踪。因此，需要提供一种手术机器人的空间注册位姿计算方法，用于确定导航仪的较佳位姿，提高手术机器人进行空间注册的准确度和效率。
图2是根据本说明书一些实施例所示的手术机器人的空间注册位姿计算方法200的示例性流程图。如图2所示，手术机器人的空间注册位姿计算方法200包括下述步骤。在一些实施例中，手术机器人的空间注册位姿计算方法200可以由处理设备110执行。
步骤210，确定导航仪的目标视野范围。在一些实施例中，步骤210可以由范围确定模块执行。
目标视野范围可以为机械臂末端器械在注册位姿过程中可以运动的空间。为了获取机械臂末端器械和目标对象的待手术部位的位姿，机械臂末端上的参考标记物和目标对象支撑装置上的目标对象的待手术部位上的参考标记物的运动需要被限制在目标视野范围内才能在任一运动时刻被导航仪获取到。
在一些实施例中，目标视野范围也可以被称为第二感受野。
在一些实施例中，范围确定模块可以通过任意方式确定导航仪的目标视野范围。例如，通过人工(例如，医生等)确定导航仪的目标视野范围。
在一些实施例中，范围确定模块可以获取导航仪的初始感受野，获取空间范围约束条件，根据空间范围约束条件对初始感受野进行约束，得到导航仪的目标视野范围。关于根据空间范围约束条件对初始感受野进行约束，得到导航仪的目标视野范围的更多描述可以参见图3及其相关描述，此处不再赘述。
步骤220，基于目标视野范围，对导航仪的位姿进行调整。在一些实施例中，步骤220可以由位姿确定模块执行。
在一些实施例中，位姿确定模块可以基于目标视野范围，对导航仪的位姿进行调整，以使得手术机器人的参考标记物位于目标视野范围内。
在一些实施例中，位姿确定模块可以通过任意方式基于目标视野范围，对导航仪的位姿进行调整。例如，通过人工基于目标视野范围，对导航仪的位姿进行调整。
在一些实施例中，位姿确定模块可以获取手术机器人的参考标记物与导航仪的目标视野范围之间的位置关系，根据所述位置关系生成位姿调节数据，并基于位姿调节数据对导航仪的位姿进行调整，以使参考标记物落在导航仪的目标视野范围内。关于根据手术机器人的参考标记物与导航仪的目标视野范围之间的位置关系对导航仪的位姿进行调整的更多描述，可以参见图10及其相关描述，此处不再赘述。
步骤230，根据目标视野范围以及手术机器人的机械臂末端器械的位姿，确定手术机器人的空间注册位姿。在一些实施例中，步骤230可以由位姿注册模块执行。
手术机器人的空间注册位姿是手术机器人的机械臂末端器械用于进行空间注册的位姿，手术机器人的空间注册位姿可以包括手术机器人的机械臂末端器械的位置坐标和旋转姿态。其中，位置坐标可以为手术机器人的某一坐标系下的坐标，例如，位置坐标可以为导航仪坐标系下的一个坐标，可以用(x，y，z)表示。位置坐标还可以为手术机器人的其他坐标系(例如，机械臂坐标系、机械臂末端坐标系以及机械臂末端传感器坐标系等)下的坐标。旋转姿态为机械臂末端器械在该位置坐标下相对于坐标轴的角度或者朝向，可以通过等效旋转矢量、欧拉角、旋转矩阵、姿态四元数等方式表示。
手术机器人按照空间注册位姿进行空间注册的过程中，机械臂末端器械始终位于目标视野范围内。
在一些实施例中，手术机器人的处理器可以根据目标视野范围以及手术机器人的机械臂末端器械的位姿，基于路径规划算法(例如，LPA*(Lifelong Planning A*)算法、D*Lite算法等)在目标视野范围内确定至少一条注册路径，其中，注册路径可以由多个位置点构成，每个位置点对应有一个空间注册位姿。位姿注册模块可以控制机械臂末端器械沿着注册路径进行运动，确定手术机器人的至少一个组件(例如，机械臂末端器械、目标对象、导航仪等)的空间坐标变换关系，完成手术机器人的空间注册。
在一些实施例中，用于确定手术机器人的空间注册位姿的机械臂末端器械的位姿，可以为预先设置的机械臂末端器械的初始位姿，还可以为基于目标视野范围进行位姿调整后的机械臂末端器械的位姿，基于目标视野范围对机械臂末端器械的位姿进行调整的更多描述可以参见图18及其相关描述，此处不再赘述。
在一些实施例中，位姿注册模块可以获取机械臂末端器械的多个位置坐标和多个旋转姿态，根据多个位置坐标和多个旋转姿态，确定手术机器人的空间注册位姿，关于根据多个位置坐标和多个旋转姿态，确定手术机器人的空间注册位姿的更多描述参见图6及其相关描述，此处不再赘述。
在一些实施例中，通过确定导航仪的目标视野范围，根据目标视野范围确定导航仪的目标位姿，根据目标视野范围、导航仪的目标位姿以及手术机器人的机械臂末端器械的位姿，确定手术机器人的空间注册位姿，避免因手术机器人的机械臂末端器械位于导航仪的视野范围外，导致注册失败的同时，使得手术机器人的机械臂末端器械在导航仪的较优的视野范围(即目标视野范围)内，提高注册精度。
应当注意的是，上述有关流程200的描述仅仅是为了示例和说明，而不限定本说明书的适用范围。对于本领域技术人员来说，在本说明书的指导下可以对流程200进行各种修正和改变。然而，这些修正和改变仍在本说明书的范围之内。
在手术过程中，通常会用到手术机器人以辅助手术完成，那么在进行手术之前，需要先对手术机器人进行空间注册。其中，对手术机器人进行空间注册的目的是为了得到机械臂末端器械、目标对象、导航仪等多空间的坐标换算关系，该坐标换算关系是手术机器人正常工作的前提。
在一些实施例中，手术机器人的空间注册方法为：在正式手术之前，通过控制手术机器人的机械臂在导航仪的感受野内按照指定的注册轨迹进行运动来实现空间注册。然而，在手术过程中，导航仪的感受野需要进行相应地调整，随之导航仪与机械臂基座的相对位置关系会发生改变。如果在二者关系改变后，不对机械臂的注册轨迹进行对应调整，则有机械臂末端器械的传感器可能会超出导航仪的感受野范围，导致手术机器人空间注册失败，影响手术进程。
在一些实施例中，可以在初始感受野的基础上，通过和机械臂运动范围相关的空间范围约束条件对初始感受野进行调整，以得到使导航仪能够时刻获取到机械臂位置的第二感受野，从而避免机械臂末端器械超出导航仪的感受野范围，导致注册失败。解决了相关技术中在手术前对手术机器人进行空间注册，容易导致手术中机械臂末端器械的传感器超出导航仪的感受野的问题，实现了手术机器人机械臂末端器械保持在导航仪视野内，提高注册成功率。
图3是根据本说明书一些实施例所示的确定导航仪的目标视野范围的示例性流程图。如图3所示，流程300包括下述步骤。在一些实施例中，流程300可以由处理设备110执行。
在手术过程中，通常会用到手术机器人以辅助手术完成，那么在进行手术之前，需要先对手术机器人进行空间注册。其中，对手术机器人进行空间注册的目的是为了得到机械臂末端器械、目标对象、导航仪等多空间的坐标换算关系，该坐标换算关系是手术机器人正常工作的前提。
在一些实施例中，可以通过控制手术机器人的机械臂在导航仪的感受野内按照指定的注册轨迹进行运动来实现空间注册，容易导致手术中机械臂末端器械(例如，传感器)超出导航仪的感受野的问题。
在一些实施例中，流程300在初始感受野的基础上，通过和机械臂运动范围相关的空间范围约束条件对初始感受野进行调整，以得到使导航仪能够时刻获取到机械臂位置的目标视野范围，从而避免机械臂末端器械超出导航仪的感受野范围，导致注册失败。对手术机器人进行空间注册，容易导致手术中机械臂末端器械的传感器超出导航仪的感受野的问题，实现了手术机器人机械臂末端器械保持在导航仪 视野内，提高注册成功率。
步骤310，获取导航仪的初始感受野。在一些实施例中，步骤310可以由范围确定模块执行。
初始感受野为导航仪的能够获取到的视野。在一些实施例中，初始感受野也可称为第一感受野。可以理解的，初始感受野可以基于导航仪的硬件特性确定，例如，导航仪的初始感受野可以为导航仪中由出厂设置确定的初始感受野。在一些实施例中，手术机器人用于对目标对象进行手术，导航仪用于获取手术机器人的机械臂末端器械的位置和目标对象的位置，以将机械臂末端器械的位置和目标对象位置进行匹配，提高解剖位置识别的准确率。常用的导航仪包括光学导航仪、电磁导航仪等等，具体地，光学导航仪包括双目光学导航仪、三目光学导航仪和结构光导航仪等等。
在一些实施例中，范围确定模块可以从处理设备110、用户终端130、存储设备140、手术机器人150和/或外部数据源获取导航仪的初始感受野。
步骤320，获取空间范围约束条件，根据空间范围约束条件对初始感受野进行约束，得到导航仪的目标视野范围。在一些实施例中，步骤320可以由范围确定模块执行。
由于机械臂在注册时需要运动，所以机械臂末端器械的位置可能出现在初始感受野之外，本实施例中基于初始感受野进行调整，得到空间位置最优的第二感受野(即目标视野范围)。具体的，根据空间范围约束条件对初始感受野进行约束。
空间范围约束条件可以为对机械臂末端器械的可运动空间进行限制的条件，可以预先存储在导航仪的处理器中。空间范围约束条件的具体内容可以由工作人员根据经验进行设置，也可以通过神经网络等模型训练得到，以获取最优的空间范围约束条件。空间范围约束条件可以和机械臂末端器械与目标对象的待手术部位的相对位置关系相关，例如，机械臂末端器械相对于目标对象的待手术部位的方向、机械臂末端器械与目标对象的待手术部位之间的最短距离、机械臂末端器械相对于目标对象的待手术部位的倾斜角度范围等。约束条件可以与机械臂末端器械和导航仪的相对位置关系相关。例如，机械臂末端器械相对于导航仪的方向、机械臂末端器械与导航仪之间的最短距离等。约束条件还可以包括其他对机械臂末端器械的运动进行限制的条件，例如，机械臂末端器械与其他设备(例如，目标对象支撑装置153等)之间的最短距离等。
在一些实施例中，范围确定模块可以从处理设备110、用户终端130、存储设备140、手术机器人150和/或外部数据源获取空间范围约束条件。
在一些实施例中，空间范围约束条件可以由工作人员根据经验进行设置，也可以通过神经网络等模型训练得到，以获取最优的空间范围约束条件。
在一些实施例中，空间范围约束条件可以包括机械臂约束条件、目标对象约束条件以及导航仪视野约束条件中的至少一种。
机械臂约束条件可以表征机械臂可达范围，机械臂约束条件可以包括机械臂的每个关节的长度、可转动角度等。在一些实施例中，范围确定模块可以通过多种传感器获取机械臂可达范围，例如，范围确定模块可以通过测距传感器获取机械臂的每个关节的长度，还可以通过转角传感器获取机械臂的可转动角度。在一些实施例中，机械臂可达范围可以通过光学导航仪器的各类传感器确定，例如至少包括机械臂末端传感器、目标对象端传感器，可能还包括参考位置传感器等。
在一些实施例中，机械臂可达范围还可以根据机械臂限位约束、奇异位形约束、机械臂自体遮挡等条件确定。其中，机械臂限位约束可以表征机械臂的每个关节的可以允许转动的角度范围，机械臂限位约束可以包括机械臂的每个关节的安全转动角度范围；奇异位形约束可以表征避免不允许机械臂摆放的位姿，奇异位形约束可以包括至少一个奇异位形对应的机械臂的位姿；机械臂自体遮挡可以表征不允许的机械臂发生遮挡的位姿，机械臂自体遮挡可以包括机械臂对机械臂末端器械发生遮挡的位姿、机械臂对目标对象的待手术部位发生遮挡的位姿等。
目标对象约束条件可以表征机械臂末端器械与目标对象之间的安全距离，目标对象约束条件可以包括机械臂末端器械与目标对象的待手术部位之间的最短距离、机械臂末端器械位于消毒区域等。目标对象约束条件可以通过机械臂末端器械距离目标对象的安全距离确定。
导航仪视野约束条件可以为导航仪的高精度定位范围。可以理解的，导航仪的高精度定位范围可以为初始感受野的一部分。例如，导航仪的高精度定位范围可以为初始感受野的中间区域。对于导航仪视野约束条件，可以通过机械臂构型等建立光学导航仪器的感受野有效范围。
在一些实施例中，若是对电磁导航仪进行初始感受野的约束，还需要考虑电磁干扰。
根据空间范围约束条件对初始感受野进行约束，得到导航仪的目标视野范围，使得第二感受野(即导航仪的目标视野范围)中的各个位置均满足所有的约束条件。在一些实施例中，基于机械臂约束条件、目标对象约束条件以及导航仪视野约束条件中的至少一种来确定第二感受野，可以提高手术机器人在注册时的安全性。
在一些实施例中，范围确定模块可以通过任意可行的方法根据空间范围约束条件对初始感受野进行约束，得到导航仪的目标视野范围。
仅作为示例地，范围确定模块可以通过范围确定模型根据空间范围约束条件对初始感受野进行约束，得到导航仪的目标视野范围，其中，范围确定模型可以为用于确定目标视野范围的机器学习模型，范围确定模型的输入可以包括空间范围约束条件(例如，机械臂约束条件、目标对象约束条件以及导航仪视野约束条件等中的至少一种)，范围确定模型的输出可以包括导航仪的目标视野范围，范围确定模型可以包括卷积神经网络(CNN)、循环神经网络(RNN)、多层神经网络(MLP)、对抗神经网络(GAN)等一种或多种的组合。在一些实施例中，范围确定模块可以通过多组训练样本可以更新范围确定模块的参数，得到训练好的范围确定模型，其中，训练样本可以包括样本手术机器人的空间范围约束条件，训练样本的标签为该样本手术机器人对应的目标视野范围。
在一些实施例中，空间范围约束条件可以建立用于描述目标视野范围的空间范围的目标函数，通过最优化计算方法，根据空间范围约束条件对目标函数进行约束计算，根据约束计算后的目标函数确定目标视野范围。关于基于用于描述目标视野范围的空间范围的目标函数确定目标视野范围的更多描述可以参见图4及其相关描述，此处不再赘述。
在一些实施例中，获取空间范围约束条件，根据空间范围约束条件对初始感受野进行约束，得到导航仪的目标视野范围，可以使得后续手术机器人进行空间注册时，机械臂末端器械和目标对象支撑装置上的目标对象的待手术部位始终位于目标视野范围内，使得导航仪可以获取机械臂末端器械和目标对象的待手术部位的位姿，即可以避免手术机器人空间注册失败。
在一些实施例中，流程300还可以包括步骤330，确定导航仪的目标视野范围后，根据目标视野范围调整导航仪的摆位，使得手术机器人的机械臂末端器械位于目标视野范围内。在一些实施例中，步骤330可以由范围确定模块执行。
在一些实施例中，在得到导航仪的第二感受野之后，还可以根据第二感受野调整导航仪的摆位，使得手术机器人的机械臂末端器械位于第二感受野内。在一些实施例中，可以通过电机实现自动摆位，也可以通过工作人员手动实现摆位。图5是根据本说明书一些实施例所示的感受野的示意图，如图5所示，实线框为导航仪的初始感受野，虚线框为经过空间范围约束条件约束后的第二感受野，传感器A为机械臂末端器械，传感器B获取目标对象位置的目标对象传感器，通常情况下，传感器A位于由虚线框表示的第二感受野内，以避免手术机器人在空间注册时，传感器A超出导航仪的实际感受野范围。若发现传感器A不在第二感受野的范围内，可以调整导航仪的摆位，例如导航仪的角度和位置，来调整第二感受野的位置，以使得传感器A位于第二感受野的范围内，从而保证机械臂末端器械位于第二感受野内，提高手术机器人注册的成功率。
进一步地，若发现机械臂末端器械不在第二感受野的范围内，可以调整导航仪的摆位，并根据空间范围约束条件重新获取第二感受野，直到机械臂末端器械位于第二感受野。
在一些实施例中，确定导航仪的目标视野范围后，根据目标视野范围调整导航仪的摆位，使得手术机器人的机械臂末端器械位于目标视野范围内，可以使得后续进行手术机器人空间注册时，手术机器人的机械臂末端器械始终位于目标视野范围内，避免注册失败。
在一些实施例中，确定导航仪的目标视野范围300通过获取导航仪的初始感受野及空间范围约束条件，根据空间范围约束条件对所述初始感受野进行约束，可以快速且准确地确定导航仪的目标视野范围。
应当注意的是，上述有关流程300的描述仅仅是为了示例和说明，而不限定本说明书的适用范围。对于本领域技术人员来说，在本说明书的指导下可以对流程800进行各种修正和改变。然而，这些修正和改变仍在本说明书的范围之内。
图4是根据本说明书一些实施例所示的根据空间范围约束条件对初始感受野进行约束得到导航仪的目标视野范围的示例性流程图。如图4所示，流程400包括下述步骤。在一些实施例中，流程400可以由处理设备110执行。
步骤410，建立用于描述目标视野范围的空间范围的目标函数。在一些实施例中，步骤410可以由范围确定模块执行。
目标函数可以为用于描述目标视野范围对应的空间范围的函数。在一些实施例中，目标函数可以表达为任意形式。例如，目标函数可以表示为max.H(f(x,y,z))，其中，x,y,z∈R，其中，R为实数集，f(x,y,z)表示目标视野范围对应的空间范围，max.H()表示目标视野范围对应的空间范围的最大有效解。
步骤420，通过最优化计算方法，根据空间范围约束条件对目标函数进行约束计算。在一些实施例中，步骤420可以由范围确定模块执行。
最优化计算方法为通过建立恰当的数学模型来描述定性或者定量的数学问题，设计合适的计算 方法来寻找数学模型的最优解的方法。最优化计算方法可以包括线性规划、半定规划、最小二乘问题、复合优化、矩阵优化、随机优化、梯度下降法、牛顿法和拟牛顿法、共轭梯度法、启发式优化方法等方法。
在一些实施例中，范围确定模块可以通过MATLAB或Python等语言的典型优化软件程序通过最优化计算方法，根据空间范围约束条件对目标函数进行约束计算，对目标函数求解。
步骤430，根据约束计算后的目标函数确定目标视野范围。在一些实施例中，步骤430可以由范围确定模块执行。
在一些实施例中，范围确定模块可以将根据约束计算后的目标函数的结果作为目标视野范围。
在一些实施例中，通过建立用于描述目标视野范围的空间范围的目标函数，并通过最优化计算方法，根据空间范围约束条件对目标函数进行约束计算，可以根据约束计算后的目标函数快速确定较为准确的目标视野范围。
图6是根据本说明书一些实施例所示的确定手术机器人的空间注册位姿的示例性流程图。如图6所示，流程600包括下述步骤。在一些实施例中，流程600可以由处理设备110执行。
步骤610，获取机械臂末端器械的多个位置坐标和多个旋转姿态。在一些实施例中，步骤610可以由位姿注册模块执行。
一个位置坐标可以对应有至少一个旋转姿态。在一些实施例中，不同的位置坐标对应的旋转姿态的数量可以不同，例如，越靠近目标对象的待手术部位的位置坐标对应的旋转姿态的数量可以大于越远离目标对象的待手术部位的位置坐标对应的旋转姿态的数量。
位置坐标可以为导航仪坐标系下的空间位置坐标，以(x，y，z)表示，在获取到导航仪坐标系和其他坐标系的转换关系的情况下，该位置坐标还可以为其他坐标下的位置坐标，例如，机械臂坐标系、机械臂末端坐标系以及机械臂末端传感器坐标系。旋转姿态为机械臂末端器械在该空间位置下相对于坐标轴的角度或者朝向，可以通过等效旋转矢量、欧拉角、旋转矩阵、姿态四元数等方式表示，其中，多个旋转姿态构成机械臂末端器械的目标方向集。
在一些实施例中，位姿注册模块可以从处理设备110、用户终端130、存储设备140、手术机器人150或外部数据源获取多个位置坐标和多个旋转姿态。
在一些实施例中，位姿注册模块可以获取机械臂末端器械的多个初始旋转姿态，将多个初始旋转姿态均向同一方向进行偏转，得到多个旋转姿态。
初始旋转姿态可以为预先设置的旋转姿态，多个初始旋转姿态能够成机械臂末端器械的初始方向集。
在一些实施例中，位姿注册模块可以从处理设备110、用户终端130、存储设备140、手术机器人150或外部数据源获取多个初始旋转姿态。
在一些实施例中，位姿注册模块可以对机械臂末端器械的初始化姿态进行调整，以生成多个初始旋转姿态。
在一些实施例中，位姿注册模块可以获取机械臂末端器械的最大姿态范围，在最大姿态范围下，根据机械臂末端器械的姿态数量和/或姿态离散度确定机械臂末端器械的多个初始旋转姿态。
获取初始方向集时，需要先获取导航仪识别的机械臂末端器械的最大姿态范围。在一些实施例中，最大姿态范围可以由工作人员结合导航仪的特性实测得到。在一些实施例中，位姿注册模块可以从处理设备110、用户终端130、存储设备140、手术机器人150或外部数据源获取最大姿态范围。为了使得空间注册配准时，手术机器人的旋转姿态能最大程度地涵盖机械臂的所有旋转姿态情况，此处设置姿态离散度，其中，姿态离散度为相邻两个旋转姿态的空间相对姿态，例如，一个旋转姿态相对于坐标轴的角度为10°，另一个旋转姿态相对于坐标轴的角度为30°，则姿态离散度为20°。然后在最大姿态范围下，根据机械臂末端器械的姿态数量和/或姿态离散度确定机械臂末端器械的初始方向集。其中，姿态数量即为机械臂末端器械在第二感受野下不同姿态的总数。
例如，位姿注册模块可以根据机械臂末端器械的姿态数量确定机械臂末端器械的多个初始旋转姿态。仅作为示例地，当姿态数量为7个时，可以在机械臂末端器械的最大姿态范围内，确定5个靠近目标对象的待手术部位的初始旋转姿态和2个远离目标对象的待手术部位的初始旋转姿态。
又例如，在获取最大姿态范围的情况下，可以先获取姿态数量，然后该姿态数量的旋转姿态分布至目标视野范围中，仅作为示例地，最大姿态范围设置为[-45°，45°]，那么在姿态数量为5个情况下，可以每隔22.5°设置一个旋转姿态，22.5°则为对应的姿态离散度，旋转姿态例如-45°、-22.5°、0°、22.5°、45°，也可以在靠近目标对象的空间范围内密集设置，远离目标对象的空间范围内稀疏设置。
又例如，可以先确定姿态离散度，然后根据最大姿态范围确定目标视野范围中的具体的旋转姿 态，仅作为示例地，在[-45°，45°]的最大姿态范围下，设置姿态离散度为15°，则共有7个旋转姿态。
进一步地，在没有获知姿态范围的情况下，可以根据姿态数量和旋转姿态共同确定初始方向集。其中，以双目光学导航仪为例，机械臂在离散的姿态下，配置于机械臂末端器械的传感器能被双目光学导航仪识别到。
在一些实施例中，位姿注册模块可以将多个初始旋转姿态均向同一方向进行偏转，得到多个旋转姿态。其中，偏转包括靠近导航仪的方向偏转，或者若出现机械臂畸形或者机械臂不可达的情况，在考虑初始方向的基础上靠近朝向导航仪的方向偏转。
在一些实施例中，需要获取手术机器人中各个坐标系之间的转换关系，以实现位置坐标和旋转姿态在不同坐标系的转换。其中，手术机器人的坐标系包括以下坐标系中的至少部分坐标系：机械臂坐标系、导航仪坐标系、机械臂末端坐标系以及机械臂末端传感器坐标系。关于基于手术机器人中各个坐标系之间的转换关系确定手术机器人的注册位姿的更多描述可以参见图7及其相关描述，此处不再赘述。
在一些实施例中，通过获取机械臂末端器械的多个初始旋转姿态，将多个初始旋转姿态均向同一方向进行偏转，可以快速得到多个旋转姿态，并且，可以保证在第二感受野内旋转姿态分布得较为均匀，为手术机器人注册时提供更多的选择。
步骤620，根据多个位置坐标和多个旋转姿态，确定手术机器人的空间注册位姿。在一些实施例中，步骤620可以由位姿注册模块执行。
在一些实施例中，位置坐标和旋转姿态非强关联，位置坐标可以在第二感受野中选择，旋转姿态的选择不受第二感受野的限制，既可以在第二感受野中进行选择，也可以在第二感受野之外的范围内选择。最后，将选择的位置坐标和旋转姿态进行组合，得到空间注册位姿。
本实施例中，可以为每个位置坐标设置对应的若干个旋转姿态，对应关系可以预先设置，例如，在有多个位置坐标的情况下，对于靠近目标对象或者扫描床的每个位置坐标，可以设置多个旋转姿态，以获取更加准确的注册轨迹，对于远离目标对象或者扫描床的位置坐标，和位置坐标对应的旋转姿态的数量可以少一些。而且，对于靠近目标对象或者扫描床的空间范围，可以设置更加密集的位置坐标进行手术机器人的空间注册。
应当注意的是，上述有关流程600的描述仅仅是为了示例和说明，而不限定本说明书的适用范围。对于本领域技术人员来说，在本说明书的指导下可以对流程600进行各种修正和改变。然而，这些修正和改变仍在本说明书的范围之内。
图7是根据本说明书一些实施例所示的基于手术机器人中各个坐标系之间的转换关系确定手术机器人的注册位姿的示例性流程图。如图7所示，流程700包括下述步骤。在一些实施例中，流程700可以由处理设备110执行。
步骤710，通过坐标变换计算多个坐标系之间的转换关系。在一些实施例中，步骤710可以由位姿注册模块执行。
其中，多个坐标系包括机械臂末端关节坐标系、机械臂末端器械坐标系、导航仪坐标系机械臂基座坐标系等等。在一些实施例中，可以根据机械臂末端传感器获取到的坐标、机械臂初始化位姿的坐标、机械臂末端关节的坐标求解各个坐标系之间的转换关系，末端传感器为配置于机械臂末端上的传感器。
步骤720，根据机械臂约束条件、目标对象约束条件以及导航仪视野约束条件中的至少一种对初始感受野进行约束，通过最优化计算方法获取第二感受野。在一些实施例中，步骤720可以由位姿注册模块执行。
关于根据机械臂约束条件、目标对象约束条件以及导航仪视野约束条件中的至少一种对初始感受野进行约束，通过最优化计算方法获取第二感受野的更多描述可以参见图3、图4及其相关描述，此处不再赘述。
在一些实施例中，目标对象约束条件可以根据由目标对象传感器获取到的坐标确定。
步骤730，根据第二感受野调整导航仪的摆位，根据导航仪调整后的摆位，获取更新后的第二感受野，直到机械臂末端器械位于该第二感受野内为止。在一些实施例中，步骤730可以由位姿注册模块执行。
关于根据第二感受野调整导航仪的摆位的更多描述可以参见图3及其相关描述，此处不再赘述。
步骤740，获取初始方向集，将初始方向集进行偏转，根据初始化姿态、末端传感器朝向导航仪时二者之间的坐标系转换关系，计算偏转后的机械臂末端器械的目标方向集。在一些实施例中，步骤740可以由位姿注册模块执行。
在一些实施例中，将导航仪跟踪到的机械臂末端器械的坐标作为初始位置坐标，然后由初始位置坐标，结合机械臂末端器械与机械臂末端关节的理论坐标系关系，计算得到机械臂末端器械到导航仪 器的初始坐标系转换关系，此时机械臂的位姿作为机械臂的初始化姿态Porigin。此外，还需要计算末端传感器朝向导航仪时对应的机械臂与导航仪的坐标系关系。
步骤750，从机械臂末端器械的目标方向集中选取若干个旋转姿态，在第二感受野中选取多个位置坐标，将旋转姿态和位置坐标进行组合作为手术机器人的注册位姿。在一些实施例中，步骤750可以由位姿注册模块执行。
其中，位姿以(x,y,z,rx,ry,rz)表示，x,y,z表示位置坐标，rx,ry,rz表示旋转姿态。在得到位姿之后，通过运动学反解来确定机械臂中各个关节的角度。
在一些实施例中，目标方向集主要用于确定姿态计算中每个注册位姿对应的机械臂末端器械的旋转姿态(rx,ry,rz)，空间位置的计算用于确定每个注册位姿的空间位置(x,y,z)。
在一些实施例中，流程700在初始感受野的基础上，通过和机械臂运动范围相关的空间范围约束条件对初始感受野进行调整，以得到使导航仪能够时刻获取到机械臂位置的第二感受野，从而避免机械臂末端器械超出导航仪的感受野范围，导致注册失败。解决了相关技术中在手术前对手术机器人进行空间注册，容易导致手术中机械臂末端器械的传感器超出导航仪的感受野的问题，实现了手术机器人机械臂末端器械保持在导航仪视野内，提高注册成功率。
本申请提供的方法实施例可以在终端、计算机或者类似的运算装置中执行。以运行在终端上为例，图8是根据本说明书一些实施例所示的的视觉导航仪感受野获取方法的终端的硬件结构框图。如图8所示，终端800可以包括一个或多个(图8中仅示出一个)处理器802(处理器802可以包括但不限于微处理器MCU或可编程逻辑器件FPGA等的处理装置)和用于存储数据的存储器804，可选地，上述终端还可以包括用于通信功能的传输设备806以及输入输出设备808。本领域普通技术人员可以理解，图8所示的结构仅为示意，其并不对上述终端的结构造成限定。例如，终端800还可包括比图8中所示更多或者更少的组件，或者具有与图8所示不同的配置。
存储器804可用于存储控制程序，例如，应用软件的软件程序以及模块，如本申请实施例中的视觉导航仪感受野获取方法对应的控制程序，处理器802通过运行存储在存储器804内的控制程序，从而执行各种功能应用以及数据处理，即实现上述的方法。存储器804可包括高速随机存储器，还可包括非易失性存储器，如一个或者多个磁性存储装置、闪存、或者其他非易失性固态存储器。在一些实例中，存储器804可进一步包括相对于处理器802远程设置的存储器，这些远程存储器可以通过网络连接至终端800。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
传输设备806用于经由一个网络接收或者发送数据。上述的网络具体实例可包括终端800的通信供应商提供的无线网络。在一个实例中，传输设备806包括一个网络适配器(Network Interface Controller，简称为NIC)，其可通过基站与其他网络设备相连从而可与互联网进行通讯。在一个实例中，传输设备806可以为射频(Radio Frequency，简称为RF)模块，其用于通过无线方式与互联网进行通讯。
本实施例还提供了一种手术机器人，包括导航仪、机械臂和处理器：处理器获取导航仪的初始感受野；处理器获取空间范围约束条件，根据空间范围约束条件对初始感受野进行约束，得到导航仪的第二感受野。其中，空间范围约束条件包括机械臂约束条件、目标对象约束条件以及导航仪视野约束条件中的至少一种。
进一步地，处理器获取第二感受野的具体方法为：建立用于描述第二感受野的空间范围的目标函数；通过最优化计算方法，根据空间范围约束条件对目标函数进行约束计算；根据约束计算后的目标函数确定第二感受野。
进一步地，处理器在得到第二感受野之后，还可以根据第二感受野调整导航仪的摆位，使得手术机器人的机械臂末端器械位于第二感受野内。
进一步地，处理器在得到第二感受野之后，结合第二感受野以及手术机器人的机械臂末端器械的位姿，确定手术机器人的空间注册位姿。具体地，空间注册位姿的计算方法为：获取手术机器人的机械臂末端器械的多个位置坐标和旋转姿态，多个旋转姿态构成机械臂末端器械的目标方向集；根据多个位置坐标和目标方向集中的多个旋转姿态，确定手术机器人的空间注册位姿，其中，位置坐标和旋转姿态对应。
进一步地，处理器获取目标方向集的过程为：获取机械臂末端器械的初始方向集，初始方向集包括多个初始旋转姿态；将初始方向集中的多个初始旋转姿态均向同一方向进行偏转，得到机械臂末端器械的目标方向集。其中，初始方向集通过如下方式得到：获取导航仪识别的机械臂末端器械的最大姿态范围；在最大姿态范围下，根据机械臂末端器械的姿态数量和/或姿态离散度确定机械臂末端器械的初始方向集。
本实施例中的手术机器人，在初始感受野的基础上，通过和机械臂运动范围相关的空间范围约束条件对初始感受野进行调整，以得到使导航仪能够时刻获取到机械臂位置的第二感受野，从而避免机 械臂末端器械超出导航仪的感受野范围，导致注册失败。解决了相关技术中在手术前对手术机器人进行空间注册，容易导致手术中机械臂末端器械的传感器超出导航仪的感受野的问题，实现了手术机器人机械臂末端器械保持在导航仪视野内，提高注册成功率。
本实施例还提供了一种视觉导航仪感受野获取设备，该设备用于实现上述实施例及优选实施方式，已经进行过说明的不再赘述。如以下所使用的，术语“模块”、“单元”、“子单元”等可以实现预定功能的软件和/或硬件的组合。尽管以下实施例所描述的装置较佳地以软件来实现，但是硬件，或者软件和硬件的组合的实现也是可能并被构想的。
图9是根据本说明书一些实施例所示的视觉导航仪感受野获取设备的结构框图，如图9所示，该设备包括获取模块910和约束模块920：获取模块910，用于获取手术机器人中导航仪的初始感受野；约束模块920，用于获取空间范围约束条件，根据空间范围约束条件对初始感受野进行约束，得到导航仪的第二感受野。其中，空间范围约束条件包括机械臂约束条件、目标对象约束条件以及导航仪视野约束条件中的至少一种。
进一步地，约束模块920还用于建立用于描述第二感受野的空间范围的目标函数；通过最优化计算方法，根据空间范围约束条件对目标函数进行约束计算；根据约束计算后的目标函数确定第二感受野。
进一步地，视觉导航仪感受野获取设备包括摆位模块，用于根据第二感受野调整导航仪的摆位，使得手术机器人的机械臂末端器械位于第二感受野内。
进一步地，视觉导航仪感受野获取设备包括注册模块，用于结合第二感受野中和手术机器人的机械臂末端器械的位姿来确定手术机器人的空间注册位姿。具体地，注册模块包括方向集计算单元，用于获取手术机器人的机械臂末端器械的多个位置坐标和旋转姿态，多个旋转姿态构成机械臂末端器械的目标方向集，根据多个位置坐标和目标方向集中的多个旋转姿态，确定手术机器人的空间注册位姿，其中，位置坐标和旋转姿态对应。
进一步地，注册模块包括偏转单元，用于获取机械臂末端器械的初始方向集，其中，初始方向集包括多个初始旋转姿态；然后将初始方向集中的多个初始旋转姿态均向同一方向进行偏转，得到机械臂末端器械的目标方向集。其中，初始方向集通过如下方式得到：获取导航仪识别的机械臂末端器械的最大姿态范围；在最大姿态范围下，根据机械臂末端器械的姿态数量和/或姿态离散度确定机械臂末端器械的初始方向集。
本实施例中的手术机器人，其约束模块920在获取模块910得到的初始感受野的基础上，通过和机械臂运动范围相关的空间范围约束条件对初始感受野进行调整，以得到使导航仪能够时刻获取到机械臂位置的第二感受野，从而避免机械臂末端器械超出导航仪的感受野范围，导致注册失败。解决了相关技术中在手术前对手术机器人进行空间注册，容易导致手术中机械臂末端器械的传感器超出导航仪的感受野的问题，实现了手术机器人机械臂末端器械保持在导航仪视野内，提高注册成功率。
需要说明的是，上述各个模块可以是功能模块也可以是程序模块，既可以通过软件来实现，也可以通过硬件来实现。对于通过硬件来实现的模块而言，上述各个模块可以位于同一处理器中；或者上述各个模块还可以按照任意组合的形式分别位于不同的处理器中。
本实施例还提供了一种电子装置，包括存储器和处理器，该存储器中存储有计算机程序，该处理器被设置为运行计算机程序以执行上述任一项方法实施例中的步骤。
可选地，上述电子装置还可以包括传输设备以及输入输出设备808，其中，该传输设备和上述处理器连接，该输入输出设备808和上述处理器连接。
可选地，在本实施例中，上述处理器可以被设置为通过计算机程序执行以下步骤：
S1，获取手术机器人中导航仪的初始感受野；
S2，获取空间范围约束条件，根据空间范围约束条件对初始感受野进行约束，得到导航仪的第二感受野。
可选地，在本实施例中，上述处理器可以被设置为通过计算机程序执行以下步骤：
Y1，获取手术机器人中导航仪的初始感受野；
Y2，获取空间范围约束条件，根据空间范围约束条件对初始感受野进行约束，得到导航仪的第二感受野；
Y3，结合第二感受野中，以及手术机器人的机械臂末端器械的位姿，确定手术机器人的空间注册位姿。
需要说明的是，本实施例中的具体示例可以参考上述实施例及可选实施方式中所描述的示例，本实施例在此不再赘述。
图10是根据本说明书一些实施例所示的根据目标视野范围确定导航仪的目标位姿的示例性流程图。如图10所示，流程1000包括下述步骤。在一些实施例中，流程1000可以由处理设备110执行。
手术导航是通过三维数字化目标对象病灶组织，并实时追踪手术位置，实现外科手术可视化和自动化，从而辅助医生更快速、准确和安全地完成手术任务。而光学导航是目前手术导航中的主流方法，具有精度高、应用灵活方便、无侵入伤害等优点，因而具有较广泛的应用，通过光学导航仪器可以在手术中实时检测和追踪目标物体，以辅助手术操作的过程。
在使用光学导航仪实时检测和追踪目标物体之前，通常需要先对光学导航仪的位姿进行调整，在对光学导航仪的位姿进行调整时，通常是由操作人员根据经验将光学导航仪的位姿调整到期望的状态。
然而，上述依赖人工调整的方法在调整光学导航仪的位姿时的准确率和效率均较低。
在一些实施例中，流程1000通过获取手术机器人的参考标记物与手术机器人的导航仪的目标视野范围之间的位置关系；根据位置关系生成位姿调节数据，并基于位姿调节数据对光学导航仪的位姿进行调整，以使参考标记物落在导航仪的目标视野范围内。可以通过位置关系所生成的位姿调节数据，直接对导航仪的位姿进行自动调整，不依赖于人工经验去调整导航仪的位姿，不仅提高了调整导航仪的位姿的准确率，同时也提高了调整导航仪的位姿的效率。
步骤1010，获取手术机器人的参考标记物与导航仪的目标视野范围之间的位置关系。在一些实施例中，步骤1010可以由位姿确定模块执行。
手术机器人的参考标记物可以为设置在手术机器人的除导航仪以外的部件(例如，机械臂末端、目标对象的待手术部位等)上的标记物。其中，标记物可以为任意形式，例如，标记物可以为金属反光球或者金属反光片，金属反光球或者金属反光片的表面涂覆有反光涂层。手术机器人(也可称为手术机器人导航定位系统)是手术过程中的辅助系统，可以在手术中实时检测和追踪目标物体，从而辅助医生进行手术操作。手术机器人导航定位系统可以包括参考标记物和光学导航仪，在利用光学导航仪实时检测和追踪目标物体时，通常需要在目标物体上设置参考标记物，这里的参考标记物通常为容易识别的光学标记物，例如，可以是可反射近红外光的光学小球。通过利用光学导航仪对参考标记物的追踪，从而可以获取到目标物体的实时位姿信息。
基于光学导航仪的光学特性，参考标记物需要保持在光学导航仪的目标视野范围内。在确定光学导航仪的目标视野范围后，为了将参考标记物保持在光学导航仪的目标视野范围内，需要先获取到参考标记物与光学导航仪的目标视野范围之间的位置关系，位置关系可以直接基于参考标记物与目标视野范围的位置信息获取到，也可以通过其他方式对参考标记物与目标视野范围的位置信息进行处理后获取到。
手术机器人的参考标记物可以包括设置在机械臂末端上的参考标记物和/或设置在目标对象的待手术部位上的参考标记物。
目标视野范围可以是导航仪的视场范围内的一个预设大小的区域，例如，目标视野范围可以是根据机械臂精度范围、手术操作范围、导航仪器视场范围所共同确定的一个区域。关于目标视野范围的更多描述，可以参见图2及图3相关描述，此处不再赘述。
手术机器人的参考标记物与导航仪的目标视野范围之间的位置关系可以表征手术机器人的参考标记物与导航仪的目标视野范围的相对位置关系。
手术机器人的参考标记物与导航仪的目标视野范围之间的位置关系可以参考标记物与光学导航仪的目标视野范围之间的相对位置以及距离大小等信息。
例如，手术机器人的参考标记物与导航仪的目标视野范围之间的位置关系可以包括：手术机器人的机械臂末端上的参考标记物与导航仪的目标视野范围的相对方向、手术机器人的机械臂末端上的参考标记物与导航仪的目标视野范围之间角度、手术机器人的机械臂末端上的参考标记物与导航仪的目标视野范围之间距离等；还可以包括目标对象的待手术部位上的参考标记物与导航仪的目标视野范围的相对方向、目标对象的待手术部位上的参考标记物与导航仪的目标视野范围之间角度、目标对象的待手术部位上的与导航仪的目标视野范围之间距离等。
在一些实施例中，手术机器人的参考标记物与导航仪的目标视野范围之间的位置关系可以包括手术机器人的参考标记物与导航仪的目标视野范围内的至少一个位置(例如，目标视野范围的中心点或目标视野范围的至少一个边缘点之间等)之间的位置关系。
在一些实施例中，位姿确定模块可以通过任意方法获取手术机器人的参考标记物与导航仪的目标视野范围之间的位置关系。例如，通过人工获取手术机器人的参考标记物与导航仪的目标视野范围之间的位置关系。
在一些实施例中，位姿确定模块可以获取所述手术机器人的参考标记物相对于所述导航仪的位置信息，获取所述导航仪的目标视野范围，基于所述位置信息计算所述参考标记物与所述目标视野范围之间的位置关系。关于基于手术机器人的参考标记物相对于导航仪的位置信息计算参考标记物与目标视野范围之间的位置关系的更多描述可以参见图11及其相关描述，此处不再赘述。
步骤1020，根据位置关系生成位姿调节数据，并基于位姿调节数据对导航仪的位姿进行调整，以使参考标记物落在导航仪的目标视野范围内。在一些实施例中，步骤1020可以由位姿确定模块执行。
位姿调节数据用于指示调整导航仪位姿的数据。例如，位姿调节数据可以包括距离调整数据、姿态调整数据等。
位姿调整数据可以以图片、动画、提示信息、语音等方式展现，当然也可以采用其他方式展现。
在位姿调节数据包括一种类型的情况下，例如，位姿调节数据仅以图片形式展示，那么可以直接基于该图片上的信息对导航仪的位姿进行调整，以使参考标记物落在导航仪的目标视野范围内；若位姿调节数据包括两种或两种以上类型的情况下，可以采用多种类型的位姿调节数据共同对导航仪的位姿进行调整，也可以仅选择采用其中的一部分类型的位姿调节数据对导航仪的位姿进行调整。例如，位姿调节数据同时以图片形式和提示信息展示，那么可以结合图片上的信息以及提示信息共同对光学导航仪的位姿进行调整，也可以仅采用图片上的信息或者仅采用提示信息对导航仪的位姿进行调整。
在一些实施例中，通过获取手术机器人导航定位系统的参考标记物与手术机器人导航定位系统的导航仪的目标视野范围之间的位置关系；根据位置关系生成位姿调节数据，并基于位姿调节数据对导航仪的位姿进行调整，以使参考标记物落在导航仪的目标视野范围内。通过位置关系所生成的位姿调节数据，直接对导航仪的位姿进行自动调整，不依赖于人工经验去调整导航仪的位姿，不仅提高了调整光学导航仪的位姿的准确率，同时也提高了调整光学导航仪的位姿的效率。
在一些实施例中，位姿确定模块可以根据位置关系，确定参考标记物对应的标识与目标视野范围对应的标识之间的相对位置关系图及位姿调整信息，并根据相对位置关系图及位姿调整信息对导航仪的位姿进行调整。关于根据相对位置关系图及位姿调整信息对导航仪的位姿进行调整的更多描述可以参见图12及其相关描述，此处不再赘述。
在一些实施例中，位姿确定模块可以根据位置关系，确定光学导航仪的位姿调整信息，基于位姿调整信息对光学导航仪的位姿进行调整，以使参考标记物落在光学导航仪的目标视野范围内。关于基于位姿调整信息对光学导航仪的位姿进行调整的更多描述可以参见图13及其相关描述，此处不再赘述。
在一些实施例中，位姿确定模块可以根据位置关系，确定手术机器人的参考标记物与导航仪的目标视野范围之间的相对位置关系图，基于相对位置关系图和所述位姿调节数据对所述导航仪的目标位姿进行调整，以使所述手术机器人的参考标记物位于所述导航仪的目标视野范围内。关于基于相对位置关系图和位姿调节数据对导航仪的位姿进行调整的更多描述可以参见图14及其相关描述，此处不再赘述。
在一些实施例中，位姿确定模块可以基于位姿调节数据对导航仪的位姿进行调整，以使第一参考标记物落在第一视场区域内，基于目标位姿对机械臂末端器械(例如，第二参考标记物)的位姿进行调整，以使设置于机械臂末端的第二参考标记物落在第二视场区域内。其中，第一参考标记物和第二参考标记物分别位于手术机器人的不同部位。其中，第一视场区域可以为目标视野范围，也可以为目标视野范围中的一个区域，第二视场区域可以位于第一视场区域内。
第一参考标记物通常可以固定在与手术台车保持相对静止位置关系的系统组件上，可选地，第一参考标记物可以设置于手术台车或手术台车的支撑臂所连接的头部固定装置所固定的目标对象上，例如，可以设置在目标对象的头部；第二参考标记物设置于机械臂末端，且在后续对导航仪的位姿进行调整的过程中，机械臂末端器械(例如，第二参考标记物)不会发生移动。如图16所示，其中A表示手术台车，B表示机械臂，C表示第一参考标记物，D表示设置于机械臂末端的第二参考标记物，E表示导航仪。并结合图17，其中第一参考标记物采用“o”标识，第二参考标记物采用“△”标识。
目标视野范围包括第一视场区域和第二视场区域，第一视场区域位于第二视场区域的内部。第一视场区域为根据机械臂精度范围、手术操作范围、导航仪器视场范围所共同确定的一个区域；第二视场区域为整个目标视野范围。如图17所示，第二视场区域采用六边形标识，第一视场区域采用位于六边形内部的矩形框标识。由于第一参考标记物和第二参考标记物均固定设置，因而可以基于位姿调节数据对导航仪的位姿进行调整，以使第一参考标记物落在第一视场区域内，并使第二参考标记物落在第二视场区域内。
在对导航仪的位姿进行调整时，可以先采用人工或电机驱动的方式对光学导航仪器的位姿进行粗调，使其大致朝向两个参考标记物。当导航仪器捕获到参考标记物，即参考标记物进入导航仪器的视场范围时，基于位姿调节数据采用人工或电机驱动的方式精调光学导航仪器，使得相对位置关系图中的代表参考标记物的标识落在对应的代表导航仪的目标视野范围的标识内部。
本实施例中，通过基于位姿调节数据对导航仪的位姿进行调整，以使第一参考标记物落在第一视场区域内，并使第二参考标记物落在第二视场区域内。根据位姿调节数据对导航仪的调整过程进行引导，从而便于对导航仪进行调整，从而确保第一参考标记物和第二参考标记物快速、准确地落在相应的视场区域内。在此基础上，也保证了后续注册配准环节的顺利完成，避免因光学导航仪视场不佳而造成 的注册配准失败进而返回至上一工作流的风险，提高系统工作流的稳定性。
在一些实施例中，基于位姿调节数据对导航仪的位姿进行调整，以使第一参考标记物落在第一视场区域内，基于位姿调节数据对机械臂末端器械的位姿进行调整，以使设置于机械臂末端的第二参考标记物落在第二视场区域内；其中，第一参考标记物设置于手术机器人的手术台车或目标对象的待手术部位上，第二参考标记物设置于手术机器人的机械末端上，第一视场区域位于第二视场区域的内部。关于基于位姿调节数据对导航仪的位姿进行调整，以使第一参考标记物落在第一视场区域内及使设置于机械臂末端的第二参考标记物落在第二视场区域内的更多描述可以参见图18及其相关描述，此处不再赘述。
在一些实施例中，通过获取手术机器人的参考标记物与导航仪的目标视野范围之间的位置关系，根据位置关系可以较为快速且准确地生成导航仪的目标位姿，并根据导航仪的目标位姿控制导航仪进行摆位，可以因导航仪视场不佳而造成的空间注册失败的风险。
图11是根据本说明书一些实施例所示的基于手术机器人的参考标记物相对于导航仪的位置信息计算参考标记物与目标视野范围之间的位置关系的示例性流程图。如图11所示，流程1100包括下述步骤。在一些实施例中，流程1100可以由处理设备110执行。
步骤1110，获取手术机器人的参考标记物相对于导航仪的位置信息。在一些实施例中，步骤1110可以由位姿确定模块执行。
手术机器人的参考标记物相对于导航仪的位置信息可以包括手术机器人的机械末端上的参考标记物和/或目标对象的待手术部位上的参考标记物相对于导航仪的位置信息。例如，手术机器人的参考标记物可以包括手术机器人的机械末端上的参考标记物相对于导航仪的方向、手术机器人的机械末端上的参考标记物与导航仪之间角度、手术机器人的机械末端上的参考标记物与导航仪之间距离等；手术机器人的机械末端与导航仪之间的位置关系；还可以包括目标对象的待手术部位上的参考标记物相对于导航仪的方向、目标对象的待手术部位上的参考标记物与导航仪之间角度、目标对象的待手术部位上的与导航仪之间距离等。
在一些实施例中，手术机器人的参考标记物与导航仪之间的位置关系可以包括手术机器人的参考标记物与导航仪的至少一个组件(例如，摄像头、近红外发光源等)之间的位置关系。
在一些实施例中，位姿确定模块可以通过任意方式获取手术机器人的参考标记物相对于导航仪的位置信息。例如，导航仪通过近红外双目定位摄像机镜头前端的近红外发光源向目标视野范围中的手术机器人的参考标记物发射近红外光，近红外光经过参考标记物反射回摄像机的感光组件中，从而使得参考标记物在图像上形成明亮的光点，从而可以提取出参考标记物在导航仪的坐标系下的坐标信息，进而就可以确定手术机器人的参考标记物相对于导航仪的位置信息。又例如，当手术机器人的参考标记物位于导航仪的视野范围外时，位姿确定模块可以获取手术机器人的图像，基于手术机器人的图像确定手术机器人的参考标记物与导航仪之间的位置关系。
步骤1120，获取导航仪的目标视野范围。在一些实施例中，步骤1120可以由范围确定模块执行。
在一些实施例中，范围确定模块可以获取导航仪的初始感受野，获取空间范围约束条件，根据空间范围约束条件对初始感受野进行约束，得到导航仪的目标视野范围。关于根据空间范围约束条件对初始感受野进行约束，得到导航仪的目标视野范围的更多描述可以参见图3、图4及其相关描述，此处不再赘述。
步骤1130，基于位置信息计算参考标记物与目标视野范围之间的位置关系。在一些实施例中，步骤1130可以由位姿确定模块执行。
位置关系可以表征参考标记物与导航仪的目标视野范围之间的相对位置以及距离大小等信息。
在一些实施例中，位姿确定模块可以通过任意方式基于位置信息计算参考标记物与目标视野范围之间的位置关系。例如，由于导航仪的目标视野范围也可以采用相应的坐标信息来表征，可以直接通过参考标记物的位置信息以及目标视野范围的坐标信息，来表征参考标记物与目标视野范围之间的位置关系；也可以通过对参考标记物的位置信息以及目标视野范围的坐标信息进行数学运算后，根据运算结果来表征参考标记物与目标视野范围之间的位置关系。
在一些实施例中，通过先获取手术机器人的参考标记物相对于导航仪的位置信息，获取导航仪的目标视野范围，再基于位置信息计算参考标记物与目标视野范围之间的位置关系，使得参考标记物与目标视野范围之间的位置关系的方式简单易操作，提高了效率。
图12是根据本说明书一些实施例所示的基于相对位置关系图生成位姿调整信息，并根据位姿调整信息对所述导航仪的位姿进行调整的示例性流程图。如图12所示，流程1200包括下述步骤。在一些实施例中，流程1200可以由处理设备110执行。
步骤1210，根据位置关系，确定参考标记物对应的标识与目标视野范围对应的标识之间的相对位置关系图及位姿调整信息。在一些实施例中，步骤1210可以由位姿确定模块执行。
相对位置关系图可以用于表征手术机器人的参考标记物相对于导航仪的位置信息的图像。相对位置关系图可以为二维(2D，two-dimensional)图像或三维(3D，three-dimensional)图像，其格式可以为Joint Photographic Experts Group(JPEG)、Tagged Image File Format(TIFF)、Graphics Interchange Format(GIF)等。
在一些实施例中，位姿调节数据可以以相对位置关系图的形式展现，在获取到参考标记物与光学导航仪的目标视野范围之间的位置关系后，可以采用相对位置关系图来表征该位置关系。可选地，在相对位置关系图中可以分别采用不同的标识来代表参考标记物和目标视野范围，这里的标识可以是几何图形，也可以是其他类型的标识。在参考标记物不在光学导航仪的视场范围内的情况下，相对位置关系图中可以仅包括目标视野范围对应的标识；在参考标记物落在光学导航仪的视场范围内的情况下，还可以根据参考标记物与光学导航仪的目标视野范围之间的位置关系实时刷新相对位置关系图。
步骤1220，根据相对位置关系图及位姿调整信息对导航仪的位姿进行调整。在一些实施例中，步骤1220可以由位姿确定模块执行。
在一些实施例中，由于相对位置关系图用于表征参考标记物与光学导航仪的目标视野范围之间的位置关系，因而可以根据相对位置关系图对光学导航仪的位姿进行调整，以使参考标记物落在光学导航仪的目标视野范围内。具体地，可以在调整光学导航仪的过程中，根据实时刷新的相对位置关系图判断参考标记物是否落在光学导航仪的目标视野范围内，从而采用人工或电机驱动的方式调整光学导航仪的位姿。
在一些实施例中，根据位置关系，确定参考标记物对应的标识与目标视野范围对应的标识之间的相对位置关系图；基于相对位置关系图生成导航仪的目标位姿，由于相对位置关系图可以直观地对导航仪的当前调节情况进行实时反馈，基于反馈结果可以更加有利于对导航仪的调整，进而提高了确定光学导航仪的目标位姿的准确率和效率。
图13是根据本说明书一些实施例所示的基于位姿调整信息对光学导航仪的位姿进行调整的示例性流程图。如图12所示，流程1300包括下述步骤。在一些实施例中，流程1300可以由处理设备110执行。
步骤1310，根据位置关系，确定光学导航仪的位姿调整信息。在一些实施例中，步骤1310可以由位姿确定模块执行。
位姿调节数据还可以以位姿调整信息的形式展现。位姿调整信息可以为用于对导航仪的当前位姿进行调整的信息。在一些实施例中，位姿调整信息可以包括导航仪调整后的位姿、调整后的位姿与参考标记物的相对位置关系、调整位姿的速度、调整位姿的时间等。
在一些实施例中，位姿调整信息可以包括方向调整信息及距离调整信息。其中，方向调整信息用于指示对导航仪的调整方向，这里的方向可以是上、下、左、右方向，也可以是其他方向上任意大小的角度，例如，左偏上45度的方向；距离调整信息用于指示对导航仪的移动距离。
在一些实施例中，位姿确定模块可以基于位置关系计算导航仪的位姿调整信息。例如，基于位置关系可以计算出导航仪的方向调整信息及距离调整信息，具体地，可以根据位置关系对参考标记物的位置信息以及目标视野范围的坐标信息进行数学运算处理，从而得到参考标记物与目标视野范围之间的角度以及距离，进而结合位置关系确定出参考标记物与目标视野范围之间的角度所对应的方向信息。例如，计算得到参考标记物与目标视野范围之间的角度为45度，距离为10cm，结合位置关系确定出参考标记物与目标视野范围之间的角度所对应的方向信息为左偏上方向，最终可以得到导航仪的位姿调整信息为向左偏上45度方向移动10cm。
步骤1320，基于位姿调整信息对导航仪的位姿进行调整，以使参考标记物落在导航仪的目标视野范围内。在一些实施例中，步骤1320可以由位姿确定模块执行。
在一些实施例中，位姿确定模块可以通过任意方式基于导航仪的位姿调整信息对导航仪的位姿进行调整，以使手术机器人的参考标记物位于导航仪的目标视野范围内。例如，位姿调节数据可以通过图片、动画、提示信息、语音等方式，将位姿调节数据展示给用户(例如，医生、护士等)，用户根据位姿调整信息对导航仪的位姿进行调整，以使手术机器人的参考标记物位于导航仪的目标视野范围内。又例如，位姿调节数据可以根据导航仪的位姿调整信息生成控制指令，将控制指令发送至用于调整导航仪位姿的机构，机构自动根据控制指令调整导航仪的位姿，以使手术机器人的参考标记物位于导航仪的目标视野范围内。
在一些实施例中，通过位置关系所生成的位姿调整信息，直接对导航仪的位姿进行自动调整，不依赖于人工经验去调整导航仪的位姿，不仅提高了调整导航仪的位姿的准确率，同时也提高了调整导航仪的位姿的效率，并且，调整后使手术机器人的参考标记物位于导航仪的目标视野范围内，可以保证后续进行空间注册过程中，手术机器人的参考标记物始终位于目标视野范围内，避免注册失败。并且， 基于位置关系计算导航仪的方向调整信息及距离调整信息，可以更加明确地对导航仪的调节操作进行指示，提高了调整导航仪的位姿的准确率和效率。
图14是根据本说明书一些实施例所示的基于相对位置关系图和位姿调节数据对导航仪的位姿进行调整1400的示例性流程图。如图14所示，流程1400包括下述步骤。在一些实施例中，流程1400可以由处理设备110执行。
步骤1410，根据位置关系，确定手术机器人的参考标记物与导航仪的目标视野范围之间的相对位置关系图。在一些实施例中，步骤1410可以由位姿确定模块执行。
相对位置关系图可以用于表征手术机器人的参考标记物相对于导航仪的位置信息的图像。关于确定相对位置关系图的更多描述可以参见图12及其相关描述，此处不再赘述。
步骤1420，基于相对位置关系图和位姿调节数据对导航仪的位姿进行调整，以使手术机器人的参考标记物位于所述导航仪的目标视野范围内。在一些实施例中，步骤1420可以由位姿确定模块执行。
在相对位置关系图以及位姿调整信息均存在的情况下，可以仅选择其中一种来调整光学导航仪的位姿。
在一些实施例中，在相对位置关系图以及位姿调整信息均存在的情况下，位姿确定模块还可以基于相对位置关系图和位姿调整信息共同对光学导航仪的位姿进行调整，以使参考标记物落在光学导航仪的目标视野范围内。位姿确定模块可以重复执行基于相对位置关系图生成位姿调整信息，根据位姿调整信息对导航仪的位姿进行调整，并获取调整后的手术机器人的参考标记物与导航仪的目标视野范围之间的位置关系，基于调整后的位置关系，确定调整后的相对位置关系图，直至基于调整后的相对位置关系图，确定手术机器人的参考标记物位于目标视野内。关于基于相对位置关系图以及位姿调整信息对导航仪的位姿进行调整的更多描述可以参见图15及其相关描述，此处不再赘述。
图15是根据本说明书一些实施例所示的基于相对位置关系图以及位姿调整信息对导航仪的位姿进行调整的示例性流程图。如图15所示，流程1500包括下述步骤。在一些实施例中，流程1500可以由处理设备110执行。
步骤1510、基于位姿调整信息对导航仪的位姿进行调整，并获取参考标记物与导航仪的目标视野范围之间的新的位置关系。在一些实施例中，步骤1510可以由位姿确定模块执行。
在一些实施例中，可以先根据位姿调整信息的具体内容，采用人工或电机驱动的方式对导航仪的位姿进行调整，根据调整后的结果获取到考标记物与导航仪的目标视野范围之间的新的位置关系。具体获取新的位置关系也可以是基于参考标记物与目标视野范围的新的位置信息获取到，还可以通过其他方式对参考标记物与目标视野范围的新的位置信息进行处理后获取到。
步骤1520、基于新的位置关系，确定参考标记物对应的标识与目标视野范围对应的标识之间的当前相对位置关系图。在一些实施例中，步骤1520可以由位姿确定模块执行。
在一些实施例中，在获取到参考标记物与导航仪的目标视野范围之间的新的位置关系后，可以对旧的相对位置关系图进行刷新，即对相对位置关系图中参考标记物对应的标识的位置信息进行更新，从而得到参考标记物对应的标识与目标视野范围对应的标识之间的当前相对位置关系图。
步骤1530、若基于当前相对位置关系图确定参考标记物不在目标视野范围内，则基于当前相对位置关系图对导航仪的位姿进行调整，以使参考标记物落在导航仪的目标视野范围内。在一些实施例中，步骤1530可以由位姿确定模块执行。
在一些实施例中，结合当前相对位置关系图可以判断参考标记物是否落在导航仪的目标视野范围内，若不在导航仪的目标视野范围内，则可以根据当前相对位置关系图中参考标记物与目标视野范围的相对位置关系，采用人工或电机驱动的方式继续对导航仪的位姿进行调整，直至在相对位置关系图中展示出参考标记物已落在导航仪的目标视野范围内为止。
在一些实施例中，通过根据位置关系，确定参考标记物对应的标识与目标视野范围对应的标识之间的相对位置关系图，及导航仪的位姿调整信息；基于相对位置关系图和位姿调整信息对导航仪的位姿进行调整，以使参考标记物落在导航仪的目标视野范围内。由于可以选择同时基于相对位置关系图和位姿调整信息对导航仪的位姿进行调整，通过两者位姿调节数据的配合进一步提高了调整导航仪的位姿的准确率和效率。
图18是根据本说明书一些实施例所示的基于位姿调节数据对导航仪的位姿进行调整的示例性流程图。如图18所示，流程1800包括下述步骤。在一些实施例中，流程1800可以由处理设备110执行。
在一些实施例中，第一参考标记物可以设置于手术机器人导航定位系统的手术台车或待检测对象上。
步骤1810、基于位姿调节数据对导航仪的位姿进行调整，以使第一参考标记物落在第一视场区域内。在一些实施例中，步骤1810可以由位姿确定模块执行。
在一些实施例中，位姿确定模块可以基于第一参考标记物与导航仪的目标视野范围之间的位置关系，生成位姿调节数据，基于位姿调节数据通过人工或自动的方式对导航仪的位姿进行调整，以使第一参考标记物落在第一视场区域内。关于基于第一参考标记物与导航仪的目标视野范围之间的位置关系，生成位姿调节数据的更多描述，可以参照图10、图11及其相关描述，此处不再赘述。
在一些实施例中，位姿确定模块可以基于第一参考标记物与导航仪的目标视野范围之间的位置关系，生成相对位置关系图，基于相对位置关系图对导航仪的位姿进行调整，以使第一参考标记物落在第一视场区域内。关于基于第一参考标记物与导航仪的目标视野范围之间的位置关系，生成相对位置关系图的更多描述，可以参照图12及其相关描述，此处不再赘述。
步骤1820、基于位姿调节数据对机械臂末端器械的位姿进行调整，以使设置于机械臂末端的第二参考标记物落在第二视场区域内。在一些实施例中，步骤1820可以由位姿确定模块执行。
第二参考标记物设置于手术机器人导航定位系统的机械臂末端器械，第一视场区域位于第二视场区域的内部。
在一些实施例中，位姿确定模块可以基于第二参考标记物与导航仪的目标视野范围之间的位置关系，生成位姿调节数据，基于位姿调节数据通过人工或自动的方式对机械臂末端器械的位姿进行调整，以使第二参考标记物落在第二视场区域内。关于基于第二参考标记物与导航仪的目标视野范围之间的位置关系，生成位姿调节数据的更多描述，可以参照图10、图11及其相关描述，此处不再赘述。
在一些实施例中，位姿确定模块可以基于第二参考标记物与导航仪的目标视野范围之间的位置关系，生成相对位置关系图，基于相对位置关系图对机械臂末端器械的位姿进行调整，以使第二参考标记物落在第二视场区域内。关于基于第二参考标记物与导航仪的目标视野范围之间的位置关系，生成相对位置关系图的更多描述，可以参照图12及其相关描述，此处不再赘述。
在一些实施例中，第一参考标记物固定设置，第二参考标记物固定设置于机械臂，且可以随着机械臂的移动而移动。具体地，手术机器人导航定位系统包括手术台车和机械臂，参考标记物包括第一参考标记物和第二参考标记物，且第一参考标记物设置于手术台车或待检测对象上，第二参考标记物设置于机械臂的末端；目标视野范围包括第一视场区域和第二视场区域，第一视场区域位于第二视场区域的内部，并且在后续对光学导航仪的位姿进行调整的过程中，机械臂末端器械可以移动。请参考图16，设置于机械臂末端的第二参考标记物D，可以通过机械臂的移动带动第二参考标记物进行移动。由于第一参考标记物C是固定的，因而可以基于位姿调节数据对光学导航仪的位姿进行调整，以使第一参考标记物落在第一视场区域内。
在步骤1820调整后的状态下，由于机械臂末端器械可以移动，因而可以基于位姿调节数据，采用人工或电机驱动的方式对机械臂末端器械的位姿进行调整，以使设置于机械臂末端的第二参考标记物落在第二视场区域内，基于位姿调节数据对光学导航仪和机械臂末端进行调整时的具体调整方式可参考上述实施例，在此不再赘述。
具体地，在基于位姿调节数据调整机械臂末端器械的位姿时，由于位姿调节数据为调整光学导航仪位姿的信息，例如，位姿调节数据为向下转动光学导航仪，那么此时就能够确定光学导航仪视场范围的大致朝向。并且，由于第二参考标记物需要落在第二视场区域内，而第二视场区域为光学导航仪的整个视场范围，从而在确定光学导航仪视场范围的大致朝向后，对调整机械臂末端器械的位姿以使得第二参考标记物落在光学导航仪的第二视场区域内，也具有一定的指导作用。
在一些实施例中，通过基于位姿调节数据对光学导航仪的位姿进行调整，以使第一参考标记物落在第一视场区域内；并基于位姿调节数据对机械臂末端器械的位姿进行调整，以使设置于机械臂末端的第二参考标记物落在第二视场区域内。由于在第二参考标记物固定设置于机械臂，且可随着机械臂的移动而移动的情况下，也能够根据位姿调节数据对机械臂末端器械的位姿调整过程进行引导，从而确保第二参考标记物快速、准确地落在相应的视场区域内；并且本实施例所提供的调节方式在参考标记物固定设置于机械臂，且可随着机械臂的移动而移动的情况下，也能够将参考标记物调整至相应视场区域，使用场景更加灵活多样化。在此基础上，也保证了后续注册配准环节的顺利完成，避免因光学导航仪视场不佳而造成的注册配准失败进而返回至上一工作流的风险，提高系统工作流的稳定性。
在一些实施例中，手术机器人还可以包括其他的参考标记物，例如，设置在消毒区域的第三参考标记物等。完成导航仪的位姿调整后，位姿确定模块还可以对该其他的参考标记物所在的部件的位姿进行调整，以使得该其他的参考标记物位于对应的视场区域内，其中，该其他的参考标记物位于对应的视场区域可以位于第二视场区域的内部。对该其他的参考标记物所在的部件的位姿进行调整的方式与对机械臂末端器械的位姿进行调整的方式相似，关于对该其他的参考标记物所在的部件的位姿进行调整的更多描述可以参见图18及其相关描述，此处不再赘述。
在一些实施例中，还可以在显示界面上对相对位置关系图和位姿调整信息进行展示。可选地， 在第一显示区域内展示相对位置关系图，在第二显示区域内展示位姿调整信息。
其中，显示界面可以包括第一显示区域和第二显示区域，该显示界面可以部署在显示器、显示面板等系统部件上，部署显示界面的显示器为固定设置的设备，部署显示界面的显示面板可以为可根据用户的移动进行相应移动的设备；显示界面还可以部署在光学导航仪或手术机器人导航定位系统中的其他组件上，本实施例对此不做具体限定。具体地，如图19所示，第一显示区域1910可以展示相对位置关系图，相对位置关系图可以采用三视图的方式展示，也可以采用立体图的方式展示；第二显示区域1920可以展示位姿调整信息。
可选地，请继续参考图19，第一显示区域1910可以采用三视图的方式展示，左边为相对位置关系图的俯视图，该图中左边半椭圆形表示光学导航仪，六边形表示第二视场区域，六边形里面的矩形框表示第一视场区域，第一参考标记物采用“o”标识，第二参考标记物采用“△”标识。
中间为相对位置关系图的正视图，该图中由多个小多边形组成的形状表示第二视场区域，第二视场区域中间的矩形框表示第一视场区域，第一参考标记物和第二参考标记物的表示方式与上述俯视图相同。
右边为相对位置关系图的侧视图，该图中左边的小圈表示光学导航仪，右边两个小梯形组成的大梯形表示第二视场区域，第二视场区域中间的矩形框表示第一视场区域，第一参考标记物和第二参考标记物的表示方式与上述俯视图相同。
位姿调整信息可以包括但不限于采用文字、动画等方式展示在虚线框对应的第二显示区域内，请继续参考图19，以文字形式为例，若展示“向下转动光学导航仪(Optical Tracking System，OTS)”，即表示光学导航仪的调整方向为向下调整。当然，该文字中还可以包括距离调整信息，例如，“向下转动OTS 10cm”，即表示光学导航仪的调整方向为向下调整，调整距离为10cm。
该显示界面还可以包括第三显示区域，如图19所示，第三显示区域具体用于展示光学导航仪采集的原始图像，通常可以为灰度图、彩图等图像信息。
在对光学导航仪的位姿调整完成后，最终在显示界面上展示的内容可以如图20所示，其中的第三显示区域2030依然展示光学导航仪采集的实时图像，第二显示区域2020可以以文字形式展示“调节完成”，第一显示区域2010展示调整完成后的相对位置关系图。
本实施例中，基于位置关系确定的相对位置关系图和位姿调整信息可以展示在不同的显示区域内，为用户提供了交互式显示界面，用户还可以在该显示界面上进行操作来控制电机驱动对光学导航仪位姿的调整。并且，对当前调节情况进行实时反馈，优化用户操作体验，增强可操作性。
在一些实施例中，在生成位姿调整信息后，不仅可以指示展示在显示界面上，还可以采用语音播报和/或指示灯的方式输出位姿调整信息。可选地，可以采用麦克风(microphone，mic)等语音设备对位姿调整信息进行语音播报；也可以采用LED指示灯对位姿调整信息进行提示，例如，可以在光学导航仪的不同方向上设置至少一个LED指示灯，根据位姿调整信息中的调整方向控制对应方向上的LED指示灯闪烁，还可以根据位姿调整信息中的调整距离控制对应数量的LED指示灯闪烁。
在一些实施例中，通过采用语音播报和/或指示灯的方式输出位姿调整信息，提高了输出位姿调整信息的灵活多样性，进而也保证了输出位姿调整信息的可靠性。
在一些实施例中，手术机器人的空间注册位姿计算方法还可以包括基于导航仪的位姿信息生成调整反馈信息并进行显示。图21是根据本说明书一些实施例所示的基于导航仪的位姿信息生成调整反馈信息并进行显示的示例性流程图。如图21所示，流程2100包括下述步骤。在一些实施例中，流程2100可以由处设备110执行。
步骤2110、通过设置在导航仪上的位姿监控设备，获取参考标记物的位姿信息。
在一些实施例中，位姿监控设备可以为部署在导航仪上的惯性导航系统(Inertial Measurement Unit，IMU)、陀螺仪等定位导航系统，从而可以通过惯性导航系统获取到参考标记物的移动速度、偏航角和位置等信息；通过陀螺仪可以获取到参考标记物的角度、角速度、角加速度等信息，以上信息也即参考标记物的位姿信息。
步骤2120、基于参考标记物的位姿信息生成调整反馈信息。
在一些实施例中，调整反馈信息包括参考标记物的移动距离信息和移动速度信息。
其中，通过从参考标记物的位姿信息中可以提取出参考标记物的移动距离信息和移动速度信息，从而生成调整反馈信息。该调整反馈信息用于对导航仪的调节效果进行实时反馈和智能评估。
步骤2130、将调整反馈信息展示在显示界面上。
在一些实施例中，调整反馈信息也可以以文字、动画等形式展示在显示界面上，从而指导用户对当前调节效果进行进一步判断。可选地，如图22所示，该显示界面还可以包括第四显示区域2210，第四显示区域2210具体用于展示调整反馈信息。
在一些实施例中，通过设置在导航仪上的位姿监控设备，获取参考标记物的位姿信息；基于参考标记物的位姿信息生成调整反馈信息；调整反馈信息包括参考标记物的移动距离信息和移动速度信息；将调整反馈信息展示在显示界面上，从而根据调整反馈信息对当前调节效果进行进一步判断，优化用户操作体验。
本申请提供的光学导航仪的位姿调整方法可以应用于计算机设备中，计算机设备可以是服务器，也可以是终端，其中，服务器可以为一台服务器也可以为由多台服务器组成的服务器集群，本申请实施例对此不作具体限定，终端可以但不限于是各种个人计算机、笔记本电脑、智能手机、平板电脑和便携式可穿戴设备。
以计算机设备是服务器为例，图23是根据本说明书一些实施例所示的服务器的框图，如图23所示，该计算机设备包括通过系统总线连接的处理器、存储器和网络接口。其中，该计算机设备的处理器用于提供计算和控制能力。该计算机设备的存储器包括非易失性存储介质和内存储器。该非易失性存储介质存储有操作系统、计算机程序和数据库。该内存储器为非易失性存储介质中的操作系统和计算机程序的运行提供环境。该计算机设备的数据库用于存储光学导航仪的位姿调整数据。该计算机设备的网络接口用于与外部的终端通过网络连接通信。该计算机程序被处理器执行时以实现一种光学导航仪的位姿调整方法。
本领域技术人员可以理解，图23中示出的结构，仅仅是与本申请方案相关的部分结构的框图，并不构成对本申请方案所应用于其上的服务器的限定，可选地服务器可以包括比图中所示更多或更少的部件，或者组合某些部件，或者具有不同的部件布置。
在一些实施例中，在骨科手术导航系统中，采用上述各实施例所提供的方法对光学导航仪的位姿调整完成后，在后续注册配准环节中，请继续参考图16，第一考标记物C可以作为参考阵列，第二参考标记物D可以作为注册阵列。进而系统需借助光学导航仪E和注册阵列，完成机械臂B与光学导航坐标系的注册配准。为避免注册配准过程中光学导航仪发生非预期抖动对注册配准精度造成的影响，可以通过设置固定于手术台车A上的参考阵列来补偿该抖动。
具体地，在通过参考阵列来补偿光学导航仪E的抖动时，若光学导航仪E未发生抖动，则获取到的注册阵列的位置信息是准确的，而当光学导航仪E发生抖动的情况下，则获取到的注册阵列的位置信息会出现偏差。但由于参考阵列是固定在手术台车A上的，无论光学导航仪E是否发生抖动，参考阵列与注册阵列的相对位置关系是固定的，因而可以在光学导航仪E发生抖动的情况下，基于该相对位置关系确定出注册阵列的真实位置信息，从而实现补偿光学导航仪E发生的非预期抖动。
上文已对基本概念做了描述，显然，对于本领域技术人员来说，上述详细披露仅仅作为示例，而并不构成对本说明书的限定。虽然此处并没有明确说明，本领域技术人员可能会对本说明书进行各种修改、改进和修正。该类修改、改进和修正在本说明书中被建议，所以该类修改、改进、修正仍属于本说明书示范实施例的精神和范围。
同时，本说明书使用了特定词语来描述本说明书的实施例。如“一个实施例”、“一实施例”、和/或“一些实施例”意指与本说明书至少一个实施例相关的某一特征、结构或特点。因此，应强调并注意的是，本说明书中在不同位置两次或多次提及的“一实施例”或“一个实施例”或“一个替代性实施例”并不一定是指同一实施例。此外，本说明书的一个或多个实施例中的某些特征、结构或特点可以进行适当的组合。
此外，除非权利要求中明确说明，本说明书所述处理元素和序列的顺序、数字字母的使用、或其他名称的使用，并非用于限定本说明书流程和方法的顺序。尽管上述披露中通过各种示例讨论了一些目前认为有用的发明实施例，但应当理解的是，该类细节仅起到说明的目的，附加的权利要求并不仅限于披露的实施例，相反，权利要求旨在覆盖所有符合本说明书实施例实质和范围的修正和等价组合。例如，虽然以上所描述的系统组件可以通过硬件设备实现，但是也可以只通过软件的解决方案得以实现，如在现有的服务器或移动设备上安装所描述的系统。
同理，应当注意的是，为了简化本说明书披露的表述，从而帮助对一个或多个发明实施例的理解，前文对本说明书实施例的描述中，有时会将多种特征归并至一个实施例、附图或对其的描述中。但是，这种披露方法并不意味着本说明书对象所需要的特征比权利要求中提及的特征多。实际上，实施例的特征要少于上述披露的单个实施例的全部特征。
一些实施例中使用了描述成分、属性数量的数字，应当理解的是，此类用于实施例描述的数字，在一些示例中使用了修饰词“大约”、“近似”或“大体上”来修饰。除非另外说明，“大约”、“近似”或“大体上”表明所述数字允许有±20％的变化。相应地，在一些实施例中，说明书和权利要求中使用的数值参数均为近似值，该近似值根据个别实施例所需特点可以发生改变。在一些实施例中，数值参数应考虑规定的有效数位并采用一般位数保留的方法。尽管本说明书一些实施例中用于确认其范围广度的数值域和参数为近似值，在具体实施例中，此类数值的设定在可行范围内尽可能精确。
针对本说明书引用的每个专利、专利申请、专利申请公开物和其他材料，如文章、书籍、说明书、出版物、文档等，特此将其全部内容并入本说明书作为参考。与本说明书内容不一致或产生冲突的申请历史文件除外，对本说明书权利要求最广范围有限制的文件(当前或之后附加于本说明书中的)也除外。需要说明的是，如果本说明书附属材料中的描述、定义、和/或术语的使用与本说明书所述内容有不一致或冲突的地方，以本说明书的描述、定义和/或术语的使用为准。
最后，应当理解的是，本说明书中所述实施例仅用以说明本说明书实施例的原则。其他的变形也可能属于本说明书的范围。因此，作为示例而非限制，本说明书实施例的替代配置可视为与本说明书的教导一致。相应地，本说明书的实施例不仅限于本说明书明确介绍和描述的实施例。

Claims (24)

  1. 一种手术机器人的空间注册位姿计算方法，其特征在于，包括：
    确定导航仪的目标视野范围；
    基于所述目标视野范围，对所述导航仪的位姿进行调整；
    根据所述目标视野范围以及所述手术机器人的机械臂末端器械的位姿，确定所述手术机器人的空间注册位姿。
  2. 如权利要求1所述的方法，其特征在于，所述确定导航仪的目标视野范围，包括：
    获取所述导航仪的初始感受野；
    获取空间范围约束条件，根据所述空间范围约束条件对所述初始感受野进行约束，得到所述导航仪的目标视野范围。
  3. 如权利要求2所述的方法，其特征在于，所述空间范围约束条件包括机械臂约束条件、目标对象约束条件以及导航仪视野约束条件中的至少一种。
  4. 如权利要求2所述的方法，其特征在于，所述获取空间范围约束条件，根据所述空间范围约束条件对所述初始感受野进行约束，得到所述导航仪的目标视野范围包括：
    建立用于描述所述目标视野范围的空间范围的目标函数；
    通过最优化计算方法，根据所述空间范围约束条件对所述目标函数进行约束计算；
    根据约束计算后的目标函数确定所述目标视野范围。
  5. 如权利要求1所述的方法，其特征在于，所述基于所述目标视野范围，对所述导航仪的位姿进行调整，包括：
    确定所述导航仪的目标视野范围后，根据所述目标视野范围调整所述导航仪的摆位，使得所述手术机器人的机械臂末端器械位于所述目标视野范围内。
  6. 如权利要求1所述的方法，其特征在于，所述根据目标视野范围以及手术机器人的机械臂末端器械的位姿，确定所述手术机器人的空间注册位姿，包括：
    获取所述机械臂末端器械的多个位置坐标和多个旋转姿态；
    根据所述多个位置坐标和所述多个旋转姿态，确定所述手术机器人的空间注册位姿。
  7. 如权利要求6所述的方法，其特征在于，获取所述机械臂末端器械的多个旋转姿态，包括：
    获取所述机械臂末端器械的多个初始旋转姿态；
    将所述多个初始旋转姿态均向同一方向进行偏转，得到所述多个旋转姿态。
  8. 如权利要求7所述的方法，其特征在于，所述获取所述机械臂末端器械的多个初始旋转姿态，包括：
    获取所述机械臂末端器械的最大姿态范围；
    在所述最大姿态范围下，根据所述机械臂末端器械的姿态数量和/或姿态离散度确定所述机械臂末端器械的多个初始旋转姿态。
  9. 如权利要求1所述的方法，其特征在于，所述基于所述目标视野范围，对所述导航仪的位姿进行调整，包括：
    获取手术机器人的参考标记物与所述导航仪的目标视野范围之间的位置关系；
    根据所述位置关系生成位姿调节数据，并基于所述位姿调节数据对所述导航仪的位姿进行调整，以使所述参考标记物落在所述导航仪的目标视野范围内。
  10. 如权利要求9所述的方法，其特征在于，所述根据所述位置关系生成位姿调节数据，并基于所述位姿调节数据对所述导航仪的位姿进行调整，包括：
    根据所述位置关系，确定所述参考标记物对应的标识与所述目标视野范围对应的标识之间的相对位置关系图及位姿调整信息；
    根据所述相对位置关系图及所述位姿调整信息对所述导航仪的位姿进行调整。
  11. 如权利要求10所述的方法，其特征在于，所述根据所述相对位置关系图及所述位姿调整信息对 所述导航仪的位姿进行调整，包括：
    基于所述位姿调整信息对所述导航仪的位姿进行调整，并获取所述参考标记物与所述导航仪的目标视野范围之间的新的位置关系；
    基于所述新的位置关系，确定所述参考标记物对应的标识与所述目标视野范围对应的标识之间的当前相对位置关系图；
    若基于所述当前相对位置关系图确定所述参考标记物不在所述目标视野范围内，则基于所述当前相对位置关系图对所述导航仪的位姿进行调整，以使所述参考标记物落在所述导航仪的目标视野范围内。
  12. 如权利要求9所述的方法，其特征在于，所述参考标记物包括第一参考标记物和第二参考标记物；
    所述根据所述位置关系生成位姿调节数据，并基于所述位姿调节数据对所述导航仪的位姿进行调整，包括：
    基于所述位姿调节数据对所述导航仪的位姿进行调整，以使所述第一参考标记物落在第一视场区域内，并使所述第二参考标记物落在第二视场区域内；其中，所述第一参考标记物设置于所述手术机器人的手术台车或目标对象上，所述第二参考标记物设置于所述机械臂末端上，所述第二视场区域为所述目标视野范围，所述第一视场区域位于所述第二视场区域内。
  13. 如权利要求9所述的方法，其特征在于，所述参考标记物包括第一参考标记物和第二参考标记物；
    所述根据所述位置关系生成位姿调节数据，并基于所述位姿调节数据对所述导航仪的位姿进行调整，包括：
    基于所述位姿调节数据对所述导航仪的位姿进行调整，以使第一参考标记物落在第一视场区域内；
    基于所述位姿调节数据对所述机械臂末端器械的位姿进行调整，以使设置于所述机械臂末端的第二参考标记物落在第二视场区域内；其中，所述第一参考标记物设置于所述手术机器人的手术台车或目标对象上，所述第二视场区域为所述目标视野范围，所述第一视场区域位于所述第二视场区域的内部。
  14. 如权利要求9所述的方法，其特征在于，所述方法还包括：
    通过位姿监控设备，获取所述导航仪的位姿信息；
    基于所述导航仪的位姿信息生成调整反馈信息；所述调整反馈信息包括所述导航仪的移动距离信息和移动速度信息；
    将所述调整反馈信息展示在显示界面上。
  15. 如权利要求9所述的方法，其特征在于，所述获取手术机器人的参考标记物与所述目标视野范围之间的位置关系，包括：
    获取所述手术机器人的参考标记物相对于所述导航仪的位置信息；
    获取所述导航仪的目标视野范围；
    基于所述位置信息计算所述参考标记物与所述目标视野范围之间的位置关系。
  16. 一种手术机器人的空间注册位姿计算系统，其特征在于，包括：
    范围确定模块，用于确定导航仪的目标视野范围；
    位姿确定模块，用于基于所述目标视野范围，对所述导航仪的位姿进行调整；
    位姿注册模块，用于根据目标视野范围、导航仪的目标位姿以及手术机器人的机械臂末端器械的初始位姿，确定所述手术机器人的空间注册位姿。
  17. 一种视觉导航仪感受野获取方法，其特征在于，包括：
    获取手术机器人中导航仪的初始感受野；
    获取空间范围约束条件，根据所述空间范围约束条件对所述初始感受野进行约束，得到所述导航仪的目标视野范围。
  18. 一种光学导航仪的位姿调整方法，其特征在于，包括：
    获取手术机器人的参考标记物与所述手术机器人的导航仪的目标视野范围之间的位置关系；
    根据所述位置关系生成位姿调节数据，并基于所述位姿调节数据对所述导航仪的位姿进行调整，以使所述参考标记物落在所述导航仪的目标视野范围内。
  19. 一种手术机器人的空间注册位姿计算装置，包括处理器，所述处理器用于执行权利要求1～15中 任一项所述的手术机器人的空间注册位姿计算方法、权利要求17所述的视觉导航仪感受野获取方法或权利要求18所述的光学导航仪的位姿调整方法。
  20. 一种计算机可读存储介质，所述存储介质存储计算机指令，当计算机读取存储介质中的计算机指令后，计算机执行权利要求1～15中任一项所述的手术机器人的空间注册位姿计算方法、权利要求17所述的视觉导航仪感受野获取方法或权利要求18所述的光学导航仪的位姿调整方法。
  21. 一种手术机器人，其特征在于，包括导航仪、机械臂和处理器：
    所述处理器获取所述导航仪的初始感受野；
    所述处理器获取空间范围约束条件，根据所述空间范围约束条件对所述初始感受野进行约束，得到所述导航仪的目标视野范围。
  22. 一种光学导航仪的位姿调整系统，其特征在于，所述系统包括参考标记物、光学导航仪和计算机设备，所述光学导航仪与所述计算机设备通信连接，其中：
    所述光学导航仪，用于采集所述参考标记物的位置信息，并将所述位置信息发送至所述计算机设备；
    所述计算机设备，用于基于所述位置信息计算所述参考标记物与所述光学导航仪的目标视野范围之间的位置关系；根据所述位置关系生成位姿调节数据，并基于所述位姿调节数据对所述光学导航仪的位姿进行调整，以使所述参考标记物落在所述光学导航仪的目标视野范围内。
  23. 根据权利要求22所述的系统，其特征在于，所述参考标记物包括第一参考标记物和第二参考标记物，所述第一参考标记物设置于手术机器人导航定位系统的手术台车或目标对象上，所述第二参考标记物设置于所述手术机器人导航定位系统的机械臂末端。
  24. 根据权利要求22所述的系统，其特征在于，所述系统还包括显示器，所述显示器用于展示所述位姿调节数据；所述位姿调节数据包括相对位置关系图及位姿调整信息中的至少一种，所述位姿调节数据是基于所述位置关系所确定的。
PCT/CN2022/118745 2021-09-14 2022-09-14 一种手术机器人的空间注册位姿计算方法和系统 Ceased WO2023040897A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP22869266.1A EP4385448A4 (en) 2021-09-14 2022-09-14 Method and system for calculating spatial registration pose of surgical robot
US18/605,763 US20240217110A1 (en) 2021-09-14 2024-03-14 Methods and systems for determining space registration poses of surgical robots

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202111072944.6 2021-09-14
CN202111072944.6A CN113768627B (zh) 2021-09-14 2021-09-14 视觉导航仪感受野获取方法、设备、手术机器人
CN202210423164.X 2022-04-21
CN202210423164.XA CN116965923A (zh) 2022-04-21 2022-04-21 光学导航仪的位姿调整方法、系统、设备和存储介质

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US18/605,763 Continuation US20240217110A1 (en) 2021-09-14 2024-03-14 Methods and systems for determining space registration poses of surgical robots

Publications (1)

Publication Number Publication Date
WO2023040897A1 true WO2023040897A1 (zh) 2023-03-23

Family

ID=85602447

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/118745 Ceased WO2023040897A1 (zh) 2021-09-14 2022-09-14 一种手术机器人的空间注册位姿计算方法和系统

Country Status (3)

Country Link
US (1) US20240217110A1 (zh)
EP (1) EP4385448A4 (zh)
WO (1) WO2023040897A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116570371A (zh) * 2023-04-26 2023-08-11 上海微创医疗机器人（集团）股份有限公司 磁传感器安装位置的校准系统及校准方法

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102727309A (zh) * 2011-04-11 2012-10-17 上海优益基医疗器械有限公司 结合内窥镜影像的外科手术导航系统和外科手术导航方法
CN110051436A (zh) * 2018-01-18 2019-07-26 上海舍成医疗器械有限公司 自动化协同工作组件及其在手术器械中的应用
US20190321126A1 (en) * 2018-04-23 2019-10-24 Mako Surgical Corp. System, method and software program for aiding in positioning of a camera relative to objects in a surgical environment
US20200113640A1 (en) * 2018-10-10 2020-04-16 Titan Medical Inc. Camera positioning system, method, and apparatus for capturing images during a medical procedure
CN111035454A (zh) * 2019-12-26 2020-04-21 苏州微创畅行机器人有限公司 可读存储介质以及手术机器人
CN111759463A (zh) * 2020-07-31 2020-10-13 南京普爱医疗设备股份有限公司 一种提高手术机械臂定位精度的方法
CN113768627A (zh) * 2021-09-14 2021-12-10 武汉联影智融医疗科技有限公司 视觉导航仪感受野获取方法、设备、手术机器人

Family Cites Families (58)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5506682A (en) * 1982-02-16 1996-04-09 Sensor Adaptive Machines Inc. Robot vision using targets
US5569578A (en) * 1990-04-10 1996-10-29 Mushabac; David R. Method and apparatus for effecting change in shape of pre-existing object
US5086401A (en) * 1990-05-11 1992-02-04 International Business Machines Corporation Image-directed robotic system for precise robotic surgery including redundant consistency checking
US6405072B1 (en) * 1991-01-28 2002-06-11 Sherwood Services Ag Apparatus and method for determining a location of an anatomical target with reference to a medical apparatus
US6167295A (en) * 1991-01-28 2000-12-26 Radionics, Inc. Optical and computer graphic stereotactic localizer
US6675040B1 (en) * 1991-01-28 2004-01-06 Sherwood Services Ag Optical object tracking system
US5279309A (en) * 1991-06-13 1994-01-18 International Business Machines Corporation Signaling device and method for monitoring positions in a surgical operation
US7445594B1 (en) * 1995-09-20 2008-11-04 Medtronic, Inc. Method and apparatus for temporarily immobilizing a local area of tissue
US5682886A (en) * 1995-12-26 1997-11-04 Musculographics Inc Computer-assisted surgical system
US5729475A (en) * 1995-12-27 1998-03-17 Romanik, Jr.; Carl J. Optical system for accurate monitoring of the position and orientation of an object
US6115650A (en) * 1997-04-30 2000-09-05 Ethicon, Inc. Robotic control system for needle sorting and feeder apparatus
US6228089B1 (en) * 1997-12-19 2001-05-08 Depuy International Limited Device for positioning and guiding a surgical instrument during orthopaedic interventions
US6552722B1 (en) * 1998-07-17 2003-04-22 Sensable Technologies, Inc. Systems and methods for sculpting virtual objects in a haptic virtual reality environment
US6501981B1 (en) * 1999-03-16 2002-12-31 Accuray, Inc. Apparatus and method for compensating for respiratory and patient motions during treatment
US6466815B1 (en) * 1999-03-30 2002-10-15 Olympus Optical Co., Ltd. Navigation apparatus and surgical operation image acquisition/display apparatus using the same
US6514259B2 (en) * 2001-02-02 2003-02-04 Carnegie Mellon University Probe and associated system and method for facilitating planar osteotomy during arthoplasty
US7930065B2 (en) * 2005-12-30 2011-04-19 Intuitive Surgical Operations, Inc. Robotic surgery system including position sensors using fiber bragg gratings
US10653497B2 (en) * 2006-02-16 2020-05-19 Globus Medical, Inc. Surgical tool systems and methods
US20080064927A1 (en) * 2006-06-13 2008-03-13 Intuitive Surgical, Inc. Minimally invasrive surgery guide tube
DE102008055918A1 (de) * 2008-11-05 2010-05-06 Siemens Aktiengesellschaft Verfahren zum Betreiben eines medizinischen Navigationssystems und medizinisches Navigationssystem
JP5852364B2 (ja) * 2011-08-26 2016-02-03 キヤノン株式会社 情報処理装置、情報処理装置の制御方法、およびプログラム
US9616573B2 (en) * 2012-05-25 2017-04-11 The Ritsumeikan Trust Robot control apparatus, robot control method, program, recording medium and robot system
US9008757B2 (en) * 2012-09-26 2015-04-14 Stryker Corporation Navigation system including optical and non-optical sensors
US9566120B2 (en) * 2013-01-16 2017-02-14 Stryker Corporation Navigation systems and methods for indicating and reducing line-of-sight errors
CA2897873A1 (en) * 2013-03-13 2014-10-09 Stryker Corporation Systems and methods for establishing virtual constraint boundaries
KR20140121581A (ko) * 2013-04-08 2014-10-16 삼성전자주식회사 수술 로봇 시스템
AU2016370633A1 (en) * 2015-12-14 2018-07-05 Nuvasive, Inc. 3D visualization during surgery with reduced radiation exposure
US9902071B2 (en) * 2015-12-18 2018-02-27 General Electric Company Control system and method for brake bleeding
WO2017130567A1 (ja) * 2016-01-25 2017-08-03 ソニー株式会社 医療用安全制御装置、医療用安全制御方法、及び医療用支援システム
US10596700B2 (en) * 2016-09-16 2020-03-24 Carbon Robotics, Inc. System and calibration, registration, and training methods
WO2018100760A1 (ja) * 2016-12-02 2018-06-07 Cyberdyne株式会社 上肢動作支援装置及び上肢動作支援システム
DE112018001058B4 (de) * 2017-02-28 2020-12-03 Sony Corporation Medizinisches tragarmsystem und steuervorrichtung
US11071594B2 (en) * 2017-03-16 2021-07-27 KB Medical SA Robotic navigation of robotic surgical systems
WO2019002928A1 (en) * 2017-06-30 2019-01-03 Kiekert Ag MOTOR VEHICLE LOCKING SYSTEM WITH PYROTECHNIC BLOCKING DEVICE
EP3658340A2 (en) * 2017-07-25 2020-06-03 MBL Limited Systems and methods for operating a robotic system and executing robotic interactions
US11432877B2 (en) * 2017-08-02 2022-09-06 Medtech S.A. Surgical field camera system that only uses images from cameras with an unobstructed sight line for tracking
US11564756B2 (en) * 2017-10-30 2023-01-31 Cilag Gmbh International Method of hub communication with surgical instrument systems
US11911045B2 (en) * 2017-10-30 2024-02-27 Cllag GmbH International Method for operating a powered articulating multi-clip applier
US11291510B2 (en) * 2017-10-30 2022-04-05 Cilag Gmbh International Method of hub communication with surgical instrument systems
AU2019222578B2 (en) * 2018-02-19 2024-11-28 Mako Surgical Corp. Surgical systems and methods for identifying tools guided by surgical robots
US10842699B2 (en) * 2018-04-27 2020-11-24 Ormonde M. Mahoney System and method for patient positioning in an automated surgery
US10471591B1 (en) * 2018-06-01 2019-11-12 X Development Llc Object hand-over between robot and actor
US11612438B2 (en) * 2018-09-05 2023-03-28 Point Robotics Medtech Inc. Navigation system and method for medical operation by a robotic system using a tool
GB2608752B (en) * 2018-10-03 2023-06-14 Cmr Surgical Ltd Methods and systems for providing assistance to a user of a surgical robot system
WO2020072335A1 (en) * 2018-10-04 2020-04-09 Smith & Nephew, Inc. Dual-position tracking hardware mount for surgical navigation
WO2020190832A1 (en) * 2019-03-20 2020-09-24 Covidien Lp Robotic surgical collision detection systems
JP2022527029A (ja) * 2019-04-06 2022-05-27 エレクトリック シープ ロボティクス インコーポレイテッド 遠隔操作型ロボットのためのシステム、装置、及び、方法
US12446969B2 (en) * 2019-05-20 2025-10-21 Icahn School Of Medicine At Mount Sinai Robot mounted camera registration and tracking system for orthopedic and neurological surgery
WO2020243631A1 (en) * 2019-05-30 2020-12-03 Icahn School Of Medicine At Mount Sinai Robot mounted camera registration and tracking system for orthopedic and neurological surgery
WO2021101514A1 (en) * 2019-11-19 2021-05-27 Google Llc Optimization of motion paths of a robot using vision data
CN110897717B (zh) * 2019-12-09 2021-06-18 苏州微创畅行机器人有限公司 导航手术系统及其注册方法与电子设备
US11607277B2 (en) * 2020-04-29 2023-03-21 Globus Medical, Inc. Registration of surgical tool with reference array tracked by cameras of an extended reality headset for assisted navigation during surgery
JP7522007B2 (ja) * 2020-10-30 2024-07-24 川崎重工業株式会社 無人配送システム及び無人配送方法
CN114795489B (zh) * 2021-01-06 2025-08-26 深圳市精锋医疗科技股份有限公司 手术机器人及其引导手术臂移动的方法、控制装置
US12213745B2 (en) * 2021-09-16 2025-02-04 Globus Medical, Inc. Extended reality systems for visualizing and controlling operating room equipment
US20240423728A1 (en) * 2022-01-25 2024-12-26 Lem Surgical Ag Methods and apparatus for validation and modeling of robotic surgical tools
CN114536346B (zh) * 2022-04-06 2023-04-07 西南交通大学 一种基于人机协作和视觉检测的机械臂精确路径规划方法
DE112022006521B4 (de) * 2022-04-22 2026-04-16 Hitachi High-Tech Corporation Roboterlernverfahren und vorrichtung

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102727309A (zh) * 2011-04-11 2012-10-17 上海优益基医疗器械有限公司 结合内窥镜影像的外科手术导航系统和外科手术导航方法
CN110051436A (zh) * 2018-01-18 2019-07-26 上海舍成医疗器械有限公司 自动化协同工作组件及其在手术器械中的应用
US20190321126A1 (en) * 2018-04-23 2019-10-24 Mako Surgical Corp. System, method and software program for aiding in positioning of a camera relative to objects in a surgical environment
US20200113640A1 (en) * 2018-10-10 2020-04-16 Titan Medical Inc. Camera positioning system, method, and apparatus for capturing images during a medical procedure
CN111035454A (zh) * 2019-12-26 2020-04-21 苏州微创畅行机器人有限公司 可读存储介质以及手术机器人
CN111759463A (zh) * 2020-07-31 2020-10-13 南京普爱医疗设备股份有限公司 一种提高手术机械臂定位精度的方法
CN113768627A (zh) * 2021-09-14 2021-12-10 武汉联影智融医疗科技有限公司 视觉导航仪感受野获取方法、设备、手术机器人

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116570371A (zh) * 2023-04-26 2023-08-11 上海微创医疗机器人（集团）股份有限公司 磁传感器安装位置的校准系统及校准方法

Also Published As

Publication number Publication date
EP4385448A1 (en) 2024-06-19
EP4385448A4 (en) 2024-12-04
US20240217110A1 (en) 2024-07-04

Similar Documents

Publication Publication Date Title
US12521188B2 (en) Surgical object tracking template generation for computer assisted navigation during surgical procedure
US11615884B2 (en) Techniques for virtualized tool interaction
JP6751456B2 (ja) ロボット外科手術システムで使用するための拡張現実ナビゲーションシステムおよびその使用方法
CN104758066B (zh) 用于手术导航的设备及手术机器人
US10898282B2 (en) Positioning arm for a surgical navigation system
KR20240161117A (ko) 임플란트 배치 가이드 및 방법
US12201375B2 (en) Extended reality systems for visualizing and controlling operating room equipment
CN115089302A (zh) 手术机器人系统及方法
JP2019030943A (ja) キャリブレーション方法、キャリブレーションシステム及びプログラム
CN113876433B (zh) 机器人系统以及控制方法
US11992284B2 (en) Image based motion control correction
CN114730454A (zh) 场景感知系统和方法
JPH1163927A (ja) 頭部位置・姿勢の計測装置および作業監視装置
CN115570569A (zh) 机器人系统引导方法、装置、计算机设备和存储介质
WO2023040897A1 (zh) 一种手术机器人的空间注册位姿计算方法和系统
CN115869068A (zh) 位姿调整方法、装置、设备、介质及手术机器人系统
TWI750930B (zh) 手術輔助系統及相關手術輔助方法
CN115869069A (zh) 手术机器人控制方法、装置、设备、介质及系统
JP2006051550A (ja) 移動体への位置教示装置および位置教示方法
CN110638524A (zh) 一种基于vr眼镜的肿瘤穿刺实时模拟系统
CN114211493B (zh) 机械臂的远程控制系统和方法
US20260124003A1 (en) Surgical object tracking template generation for computer assisted navigation during surgical procedure
JP7340069B1 (ja) マーカ位置登録プログラム、マーカ位置登録装置、マーカ位置登録方法及びその方法に用いるマーカ
US20240268892A1 (en) Virtual Reality Surgical Systems And Methods Including Virtual Navigation
JP2025056559A (ja) 実世界ポインティングシステムおよび実世界ポインティング方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22869266

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 2022869266

Country of ref document: EP

ENP Entry into the national phase

Ref document number: 2022869266

Country of ref document: EP

Effective date: 20240314

NENP Non-entry into the national phase

Ref country code: DE