WO2023165355A1 - 手术平台定位系统、位姿信息确定方法以及装置 - Google Patents

手术平台定位系统、位姿信息确定方法以及装置 Download PDF

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Publication number
WO2023165355A1
WO2023165355A1 PCT/CN2023/077129 CN2023077129W WO2023165355A1 WO 2023165355 A1 WO2023165355 A1 WO 2023165355A1 CN 2023077129 W CN2023077129 W CN 2023077129W WO 2023165355 A1 WO2023165355 A1 WO 2023165355A1
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WIPO (PCT)
Prior art keywords
pose information
real
pose
platform
measured object
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Ceased
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PCT/CN2023/077129
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English (en)
French (fr)
Inventor
陆迪森
金鑫
杨稳
张树国
李庚益
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Ronovo Shanghai Medical Science and Technology Ltd
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Ronovo Shanghai Medical Science and Technology Ltd
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Application filed by Ronovo Shanghai Medical Science and Technology Ltd filed Critical Ronovo Shanghai Medical Science and Technology Ltd
Priority to EP23762756.7A priority Critical patent/EP4459409A4/en
Priority to US18/838,276 priority patent/US20250152265A1/en
Publication of WO2023165355A1 publication Critical patent/WO2023165355A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • 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
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • 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
    • A61B90/08—Accessories or related features not otherwise provided for
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
    • 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
    • A61B34/30—Surgical robots
    • A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/067—Measuring instruments not otherwise provided for for measuring angles

Definitions

  • the embodiments of the present application relate to the field of computer technology, for example, to a positioning system for a surgical platform, a method and a device for determining pose information.
  • Existing surgical platforms can be divided into two types: single-column type (similar to the da Vinci Xi surgical system) and split multi-column type.
  • the split multi-column surgical platform system needs to locate the relative orientation and/or orientation of each robotic arm before the operation. Or positional relationship, this information is one of the necessary conditions for subsequent teleoperation.
  • the present application provides a positioning system for an operating platform, a method and a device for determining pose information.
  • the embodiment of the present application provides a surgical platform positioning system, the system includes:
  • a positioning module at least one surgical platform, and at least one pose acquisition module; wherein,
  • the at least one pose acquisition module is configured to be installed on the measured object, acquire initial pose information of the measured object, and send the initial pose information to the positioning module; wherein, the measured The object includes at least one surgical platform, or, includes a positioning module and at least one surgical platform;
  • the positioning module is configured to receive the initial pose information sent by the pose acquisition module, and Determining target pose information of each of the measured objects in the same space based on the initial pose information.
  • the embodiment of the present application also provides a method for determining pose information, the method including:
  • the real-time measurement values include real-time linear acceleration measurement values, real-time angular velocity measurement values and real-time magnetic field measurement values;
  • determining that the detected value is based on the real-time linear acceleration measurement value, the real-time angular velocity measurement value, and the real-time magnetic field measurement value.
  • the embodiment of the present application also provides a multi-sensor based pose information redundancy check method, which is applied to the surgical platform positioning system provided in any embodiment of the present application, wherein the pose acquisition module Contains at least two inertial sensor units;
  • the methods include:
  • the embodiment of the present application further provides an electronic device, and the electronic device includes:
  • processors one or more processors
  • storage means configured to store one or more programs
  • the one or more processors When the one or more programs are executed by the one or more processors, the one or more processors implement the pose information determination method provided in any embodiment of the present application or the pose information based on multiple sensors The method of redundancy check.
  • the embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored.
  • the program is executed by a processor, the pose information determination method provided in any embodiment of the present application or based on multi-sensor A method for redundancy checking of pose information.
  • Fig. 1 is a schematic structural diagram of a surgical platform positioning system provided by an embodiment of the present application
  • Fig. 2 is a schematic structural view of a surgical platform provided by an embodiment of the present application.
  • Fig. 3 is a schematic structural diagram of another surgical platform positioning system provided by the embodiment of the present application.
  • Fig. 4 is a schematic structural diagram of another surgical platform positioning system provided by the embodiment of the present application.
  • Fig. 5 is a schematic structural diagram of another surgical platform positioning system provided by the embodiment of the present application.
  • FIG. 6 is a schematic flowchart of a method for determining pose information provided in an embodiment of the present application.
  • Fig. 7 is a schematic flow chart of another method for determining pose information provided by the embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram corresponding to a multi-inertial sensor-based pose information redundancy check method provided by an embodiment of the present application.
  • the present application provides a positioning system for a surgical platform, a method and a device for determining pose information, so as to realize the simple and rapid completion of the positioning operation of the surgical platform and improve the positioning accuracy.
  • Figure 1 is a schematic structural diagram of the operating platform positioning system provided in Embodiment 1 of the present application. This embodiment can locate the operating platforms in the operating room; for example, each operating platform that has moved to a preset position can be positioned to determine The relationship between poses and poses of each surgical platform.
  • the structure of the operating platform positioning system includes:
  • Positioning module 110 at least one surgical platform 120 and at least one pose acquisition module 130; wherein,
  • the pose acquisition module 130 is configured to be installed on the measured object, acquire the initial pose information of the measured object, and send the initial pose information to the positioning module 110; wherein, the measured object includes at least one surgical platform 120, or, including a positioning module 110 and at least one surgical platform 120;
  • the positioning module 110 is configured to receive the initial pose information sent by the pose acquisition module 130, and determine the target pose information of each measured object in the same space based on the initial pose information.
  • the operating platform 120 may be the operating platform 120 for performing surgical operations in the operating room.
  • the operating platform 120 may also be referred to as a trolley for short.
  • it is necessary to move the surgical platform 120 to the preset surgical position in advance, and adjust the orientation angle of the surgical platform 120 so that the surgical platform 120 is different according to the operation procedure of each operation. Reach the desired preset pose state. Then through the positioning system, it is fed back to the surgical robot, so that the surgical platform 120 can directly execute the operations issued by the doctor through the console instruction.
  • the number of required surgical platforms 120 also changes accordingly. Therefore, the number of operating platforms 120 in this embodiment may be one or more, which is not limited.
  • the surgical platform 120 in this embodiment includes a platform main body 1201 , a platform robot arm 1202 and surgical instruments 1203 .
  • the bottom of the platform main body 1201 of the operation platform 120 is further equipped with pulleys, which facilitates moving the operation platform 120 to a preset position.
  • the bottom end of the platform robotic arm 1202 of the operating platform 120 is connected to the platform main body 1201 so that the platform main body 1201 supports the platform robotic arm 1202.
  • the end of the platform robotic arm 1202 is detachably installed with the surgical instrument 1203, so that Where different procedures are performed, different surgical instruments 1203 are installed.
  • the pose acquisition module 130 and the positioning module 110 can be used to determine the target pose information of each measured object in the same space, so as to realize the precise positioning of each surgical platform 120 in the operating room .
  • the pose acquisition module 130 can acquire the pose information of its body, install it on the measured object, so as to obtain the initial pose information of the measured object, and send the initial pose information to the positioning module 110 .
  • the pose acquisition module 130 includes an inertial sensor unit, a processing unit and a communication unit; where the inertial sensor unit includes a linear acceleration sensor, a gyroscope angular velocity sensor, a magnetic field sensor and a temperature sensor, and is used to obtain the initial measurement information; a processing unit, configured to determine initial pose information of the measured object based on the initial measurement information; a communication unit, configured to send the initial pose information to the positioning module 110 .
  • the positioning module 110 receives the initial pose information sent by the pose acquisition module 130, and determines the target pose information of each measured object in the same space based on the initial pose information.
  • the real-time linear acceleration measurement value of the measured object is collected based on the linear acceleration sensor in the inertial sensor unit
  • the real-time angular velocity measurement value of the measured object is collected based on the gyroscope angular velocity sensor
  • the environment of the measured object is collected based on the magnetic field measuring instrument
  • the real-time magnetic field strength value of .
  • the temperature of each sensor is detected based on the temperature sensor, and each initial measurement information is corrected based on a preset temperature model to obtain corrected real-time measurement information.
  • the real-time linear acceleration measurement value, the real-time angular velocity measurement value and the real-time magnetic field measurement value in the real-time measurement information are based on the processing unit.
  • Information processing thereby Determine the real-time pose information of the measured object.
  • the obtained pose information is sent to the positioning module 110 based on the communication unit; in one embodiment, the communication unit may transmit the pose information in a wired or wireless manner.
  • the processing unit may be a single-chip microcomputer processing unit.
  • the communication unit may be a component composed of a communication chip and an electrical interface.
  • the pose acquisition module 130 also includes a battery power supply unit, a user indicator light, and user interaction buttons; for example, the battery power supply unit is used to provide power to each sensor to keep each sensor continuously working;
  • the status indication of the current pose acquisition module 130 can be provided to users such as doctors; for example, status prompts for acquiring poses and acquisition completion status prompts, etc.;
  • user interaction buttons can include buttons such as pose information acquisition buttons for users to The current pose acquisition module 130 operates, so that the pose acquisition module 130 works.
  • the measured object can be understood as a device that needs to be positioned in the operating room.
  • the measured object may include at least one operating platform 120 , or include the positioning module 110 and at least one operating platform 120 .
  • the pose acquisition module 130 is configured to be installed on each operating platform 120, and obtain the initial pose information of each operating platform 120; the positioning module 110 It is used to determine the target pose information of each surgical platform 120 in the same space based on each initial pose information.
  • the pose acquisition modules are respectively installed on each surgical platform 120, and the initial pose information of any surgical platform 120 is obtained first, and an initial space coordinate system is established based on the initial pose information, and based on the initial space
  • the coordinate system sequentially determines the initial pose information of other operating platforms 120 , and then the positioning module 110 determines the relative pose information between the operating platforms 120 based on the acquired initial pose information of each operating platform 120 .
  • the relative pose information in this embodiment can be understood as the pose information of the current operating platform 120 determined with the initial operating platform 120 as a coordinate reference point.
  • the relative pose information between the surgical platforms 120 is directly determined, which can reduce the amount of pose information data. When there are multiple surgical platforms 120 that need to be positioned at the same time, the positioning results can be obtained quickly, improving the positioning efficiency.
  • Exemplary as shown in Figure 3 first obtain the initial pose information A of the surgical platform A, and determine the initial pose information B of the surgical platform B with the initial pose information A as the coordinate origin, and use the initial pose information A Determine the initial pose information C of the surgical platform C as the origin.
  • a pose acquisition module 130 is installed on each surgical platform 120 in turn; the pose acquisition module 130 maintains a measurement state during installation, unloading, and hand-held movement to calculate pose information in real time; the pose acquisition module 130, when installed on each operating platform 120, records the initial pose information of the operating platform 120 and sends it to the positioning module 110; the positioning module 110 uses the acquired initial pose information of any operating platform 120 as a reference coordinate system , according to the initial pose information of other surgical platforms 120, the target pose information of each surgical platform 120 in the same space can be calculated.
  • the initial pose information A of the surgical platform A, the initial pose information B of the surgical platform B, and the initial pose information C of the surgical platform C can be acquired respectively.
  • the positioning module 110 determines the surgical platform A, the surgical platform B, and the surgical platform C based on the initial pose information A, the initial pose information B, and the initial pose information C, and the three surgical platforms 120 are in the current operating room target pose information.
  • the pose acquisition module 130 is configured to be sequentially installed on the first reference unit. unit and each surgical platform 120, and obtain the initial pose information of the first reference unit and the initial pose information of each surgical platform 120; the positioning unit is used to The pose information determines the target pose information of each surgical platform 120 under the first reference unit as the reference coordinate system.
  • the first reference unit may be a certain equipment object in the operating room.
  • the pose acquisition module is sequentially installed on the first reference unit and each surgical platform 120, firstly, the positioning module 110 obtains the initial pose information of the first reference unit and the initial pose information of each surgical platform 120, and the positioning module 110 establishes a spatial coordinate system based on the acquired initial pose information of the first reference unit as a reference, and uses the initial pose information of each surgical platform 120 to determine absolute pose information under the first reference unit as the reference coordinate system.
  • the absolute pose information in this embodiment can be understood as the absolute pose information of the current operating platform 120 determined by taking the initial pose information of the first reference unit as a coordinate reference point.
  • the absolute pose information can be used to determine the pose information of each surgical platform 120 based on the same coordinates.
  • the integrated center is used as the first reference unit, correspondingly, the initial pose information of the integrated center is obtained first, and the initial pose information is used as the coordinate origin to determine the operation platform A, the operation platform B and the operation platform respectively.
  • Initial pose information A, initial pose information B, and initial pose information C of platform C are used as the coordinate origin to determine the operation platform A, the operation platform B and the operation platform respectively.
  • the positioning module 110 determines the surgical platform A, the surgical platform B, and the surgical platform C based on the initial pose information A, the initial pose information B, and the initial pose information C, and the three surgical platforms 120 are in the current operating room relative pose information.
  • the first reference unit in the above embodiment is set in the integrated hub (positioning module 110), and the corresponding pose acquisition module 130 is installed on the integrated hub to acquire the initial position of the first reference unit. pose information; the first reference unit in this embodiment can also be set at other locations, for example, it can be other preset calibration bases set in the operating room, and the corresponding pose acquisition module 130 is installed on the calibration base Above; the first reference unit can also be arranged at other locations based on actual conditions, and this embodiment does not limit the location of the first reference unit.
  • the pose acquisition module 130 of this embodiment and the installation of the measured object Relationships include removable installations and fixed installations.
  • Example 1 when the measured object also includes a second reference unit, and the installation relationship between the pose acquisition module 130 and the measured object is a fixed installation; different pose acquisition modules 130 are used to be respectively installed on the second reference unit and each surgical platform 120, and obtain the initial pose information of the second reference unit and the initial pose information of each surgical platform 120; the positioning unit 110 is used to The initial pose information determines the target pose information of the second reference unit and each surgical platform 120 in the same space.
  • Example 2 when the measured object also includes a second reference unit, and the installation relationship between the pose acquisition module 130 and the measured object is a fixed installation; different pose acquisition modules 130 are used to be respectively installed on each operating platform 120 and obtain the first initial pose information and the second initial pose information of each surgical platform 120; the positioning unit 110 is used to measure the first initial pose information and the second initial pose information of each surgical platform based on the pose acquisition module The pose information determines the target pose information of the second reference unit and each surgical platform 120 in the same space.
  • the second reference unit can be understood as a calibration base preset in the operating room.
  • the second reference unit and each operating platform 120 are used as measured objects, and the initial pose information of each measured object is acquired based on the pose acquisition module 130 .
  • the calibration base can be a base frame fixed in the operating room, the base frame can be fixed on the ground or wall, and can be mechanically and electrically docked with any operating platform 120, and the mechanical docking mechanism It includes a guiding mechanism and a locking mechanism to ensure that the operating platform 120 can be pushed to the base and locked and fixed; after being fixed, the electrical interface between the operating platform 120 and the base frame will be connected to trigger the fixed installation position of the operating platform 120.
  • the pose acquisition module 130 sets the first initial pose information measured at the current base as the reference coordinate system. In one embodiment, each operation platform 120 is pushed to the calibration base in sequence, and the operation platform 120 is docked with the calibration base through the docking device, and whether it is docked in place is detected.
  • Example 1 after the docking signal is triggered, the inertial sensor in the platform will reset the direction and position, and set the calibration base as an absolute reference; then push the platform to the preset surgical position, and then, the built-in inertial sensor will measure Get the final orientation and position of the platform in the absolute reference coordinate system.
  • the measured object includes at least one surgical platform 120
  • the surgical platform A is a reference
  • the surgical platform B and the surgical platform C are respectively docked with the surgical platform A in sequence
  • the docking mechanism adopts a docking method similar to the above
  • the initial pose information of the surgical platform B and the surgical platform C relative to the surgical platform A will be measured by the respective inertial sensors inside the trolley.
  • the positioning module 110 based on the obtained
  • Each initial pose information determines the relative pose information of each surgical platform 120 .
  • Example 2 after the docking signal is triggered, the pose acquisition module 130 fixedly installed inside the surgical platform 120 measures and obtains the first initial pose information of the current position and sends it to the positioning module 110; then pushes the surgical platform 120 to the preset After locking the platform, trigger the pose acquisition module 130 to measure the second initial pose information of the current position and send it to the positioning module 110; the final positioning module 110 is based on the first initial pose information and the first initial pose information of each surgical platform 120
  • the second initial pose information can determine the target pose information of each platform under the base frame (second reference unit) as the absolute reference coordinate system.
  • the surgical platform A is locked as the second reference unit, the first initial pose of the surgical platform A
  • the information is the same as the second initial pose information (it is the pose in the current locked state), and after the surgical platform B and the surgical platform C are docked with the surgical platform A in turn (the docking mechanism adopts a docking method similar to the above) to obtain the first
  • the initial pose information is then pushed to the surgical position for locking to obtain the second initial pose information; similarly, the positioning module 110 can determine the position of each platform based on the first initial pose information and the second initial pose information of each surgical platform 120
  • the target pose information in the absolute reference coordinate system with the operating platform A (the second reference unit).
  • the pose acquisition module 130 when the installation relationship between the pose acquisition module 130 and the measured object is a detachable installation, the pose acquisition module 130 is detachably installed on the measured object in turn.
  • the measured object is provided with a mounting mechanism 140; wherein, the mounting mechanism 140 includes a guide slot and a locking mechanism, the guide slot is used to carry the pose acquisition module 130; the lock mechanism is used to fix the pose acquisition module 130 in the guide slot.
  • the use of the detachable pose acquisition module 130 can simplify the docking process between the measured objects, facilitate operation, and reduce intervention in the surgical workflow during the preoperative preparation stage; and compared with relying on manual subjective registration In this way, the accuracy will be significantly improved.
  • the reference object includes any operating platform 120 for determining the reference coordinate point.
  • the initial position of the pose acquisition module 130 can be fixed on any designated surgical platform 120, such as the module installation mechanism of the surgical platform A, to obtain the initial pose information of the current surgical platform A, and use The initial pose information is used as a reference coordinate point to establish a reference reference coordinate system; in one embodiment, after the pose acquisition module 130 is disassembled and fixed to another operating platform B, the relative relationship between the operating platform B and the operating platform A After the initial pose information is acquired, the positioning of other operating platforms 120 to be positioned in the operating room is completed sequentially.
  • the reference object includes a positioning module 110 for determining a reference coordinate point.
  • the pose acquisition module 130 is fixed on the integration hub (the first benchmark Unit) at the module installation mechanism, its orientation and position will be set as a reference reference coordinate system, when the user starts the work of the pose acquisition module 130, such as operating the start button, the initial pose information of the integrated center is captured by the pose acquisition module 130 acquired, and establish a space coordinate system based on the acquired initial pose information; in one embodiment, the user can disassemble the pose acquisition module 130 of the integrated center and fix it on any surgical platform 120, at this time the operation
  • the initial pose information of the platform 120 under the reference reference coordinate system will be obtained; the corresponding initial information of other surgical platforms 120 is obtained in the same way, and sent to the positioning unit 110, so that the positioning unit 110 is based on each initial pose
  • the information determines the target pose information of the first reference unit and each surgical platform 120 in the same space coordinate system.
  • the first reference unit in this embodiment can also be set in other positions than the integration center, for example, it can be set in other preset calibration bases in the operating room, and the corresponding pose acquisition module 130 is installed on the calibration base. on the base; correspondingly, first fix the pose acquisition module 130 on the module installation mechanism of the reference datum (the first datum unit), its orientation and position will be set as the reference datum coordinate system, when the user starts the pose acquisition module 130 work, if the start button is operated, the initial pose information of the integrated hub is acquired by the pose acquisition module 130, and a spatial coordinate system is established based on the acquired initial pose information; the first reference unit can also be set at For other positions, this embodiment does not limit the setting position of the first reference unit.
  • the pose acquisition module 130 is configured to be installed at any installation position among the platform main body, the platform robot arm and the surgical instrument. In one embodiment, if the pose acquisition module 130 is installed on the platform body, based on the spatial relationship between the mounting mechanism of the platform body and the platform, the spatial orientation and position of the surgical platform 120 can be obtained by obtaining initial pose information It can be calculated indirectly through coordinate transformation.
  • the spatial orientation of the surgical platform 120 needs to be combined with the forward kinematics of the current platform robotic arm, that is, through the joint position of the mechanical arm,
  • the size and configuration of the arm and the orientation of the measurement module are jointly calculated;
  • the joints of the robot arm contain absolute encoders to measure the joint angle, and the size and configuration of the robot arm are preset size values, so the spatial orientation of the surgical platform 120 can be acquired by
  • the obtained initial pose information is uniquely determined after combining the kinematic coordinate transformation of the manipulator.
  • the method of using the detachable pose acquisition module 130 can also be applied to determine the relative orientation relationship between the operating platform 120 and the operating bed;
  • the direction of the long side of the bed is the x-axis
  • the direction of the short side is the y-axis
  • the direction perpendicular to the bed surface is the z-axis.
  • the surgical platform positioning system includes: a positioning module 110, at least one surgical platform 120, and at least one pose acquisition module 130; The initial pose information of the measured object, and send the initial pose information to the positioning module 110; wherein, the measured object includes at least one surgical platform 120, or, includes a positioning module 110 and at least one surgical platform 120:
  • the positioning module 110 is configured to receive the initial pose information sent by the pose acquisition module 130, and determine the target pose information of each of the measured objects in the same space based on the initial pose information .
  • the following is an embodiment of the pose information determination method provided by the embodiment of the present application.
  • This method belongs to the same inventive concept as the surgical platform positioning system of the above-mentioned embodiments, and details that are not described in the embodiments of the pose information determination method , reference may be made to the above embodiments of the operating platform positioning system.
  • Fig. 6 is a flow chart of a method for determining pose information provided by the embodiment of the present application.
  • This embodiment can locate the operating platforms in the operating room; for example, each operating platform moved to a preset position can be positioned, so Determine the pose relationship between each surgical platform.
  • the method can be executed by the operating platform positioning system, and the system can be realized by software and/or hardware. As shown in Figure 6, the method includes the following steps:
  • the real-time measurement values include real-time linear acceleration measurement values, real-time angular velocity measurement values, and real-time magnetic field measurement values.
  • machine vision is usually used for preoperative positioning of the robotic arm, and monocular or multi-eye cameras are used to identify target points or feature patterns fixed on the surgical platform, thereby determining the positioning of the surgical platform under the vision system, but based on Visual methods are easily affected by environmental factors, such as lighting, reflections, noise, occlusion, etc., which make the preoperative preparation process complicated and require repeated adjustments to complete the positioning work.
  • the technology of the embodiment of the present application adopts an inertial sensor fusion algorithm to realize the detection of the spatial attitude of the current inertial sensor.
  • the traditional inertial sensor fusion algorithm only fuses the measurement data of the linear accelerometer and the gyroscope angular velocity meter, and calculates the orientation of the object in space by combining the measured gravitational acceleration direction and angular velocity integration angle, but this method has the following three Problems: 1. There is no reference datum in the yaw angle direction, and only the relative angle direction compared with the initial state can be obtained; 2. Due to the lack of reference correction in the yaw angle direction, there is a serious angle drift problem; 3. The object cannot be obtained spatial location.
  • the embodiment of the present application uses an inertial sensor as a pose information acquisition unit to acquire the pose information of the measured object.
  • pose information includes orientation angle and spatial position
  • the method for determining the real-time pose information of the measured object based on the real-time linear acceleration measurement value, the real-time angular velocity measurement value and the real-time magnetic field measurement value includes: performing measurement value processing on the real-time linear acceleration measurement value and the real-time angular velocity measurement value, respectively obtaining Real-time gravitational acceleration direction and real-time angular velocity direction of the measured object; perform direction fusion processing on real-time magnetic field measurement value, real-time gravitational acceleration direction and real-time angular velocity direction to generate real-time direction angle of the measured object; real-time linear acceleration measurement value and real-time angular velocity Acceleration is extracted from the measured value to generate the real-time spatial position of the measured object.
  • real-time linear acceleration measurement values, real-time angular velocity measurement values, and real-time magnetic field measurement values are obtained through sensor measurement.
  • interference detection is performed based on the measured magnetic field measurement value, and it is judged whether the measurement value of the sensor has magnetic field interference. If the magnetic field measurement value does not change within the preset time interval, or the change value is less than the preset threshold range, it means that the current magnetic field is not disturbed, and the pose information can be acquired based on the current measurement values of each sensor.
  • numerical integration processing is performed on the obtained real-time linear acceleration measurement value and real-time angular velocity measurement value, and direction fusion calculation is performed on the integrated measurement value and magnetic field measurement value, so as to obtain the sensor relative to the last measurement moment.
  • Three-dimensional (3-dimensional, 3D) orientation changes.
  • the temperature sensor is used to detect the temperature of each sensing unit and correct the measured value of the sensor based on the temperature model.
  • the embodiment of the present application does not use the direction of the magnetic field strength as the direction reference, but only uses the measured value of the magnetic field as the basis for judging the interference of the magnetic field. Stable, so as to suppress the direction and angle drift problem that only depends on the direction of gravity acceleration and the integration of angular velocity in a static state.
  • the real-time measured value of the accelerometer and the real-time measured value of the angular velocity meter are analyzed Solution, get the linear acceleration of the object except the gravitational acceleration and centripetal acceleration, and obtain the real-time 3D position of the object in space through the quadratic integration of the linear acceleration.
  • the following is an embodiment of the operating platform positioning device provided by the embodiment of the present application.
  • This device belongs to the same inventive concept as the operating platform positioning system and method of the above-mentioned embodiments, and details that are not described in the embodiments of the operating platform positioning device , reference may be made to the above embodiments of the operating platform positioning system and method.
  • FIG. 8 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • FIG. 8 shows a block diagram of an exemplary electronic device 12 suitable for implementing embodiments of the present application.
  • the electronic device 12 shown in FIG. 8 is only an example, and should not limit the functions and scope of use of this embodiment of the present application.
  • electronic device 12 takes the form of a general computing electronic device.
  • Components of electronic device 12 may include, but are not limited to: one or more processors or processing units 16 , system memory (memory) 28 , bus 18 connecting various system components including system memory 28 and processing unit 16 .
  • Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus structures.
  • these architectures include but are not limited to Industry Standard Architecture (Industry Standard Architecture, ISA) bus, Micro Channel Architecture (Micro Channel Architecture, MCA) bus, Enhanced ISA bus, Video Electronics Standards Association (Video Electronics Standards Association, VESA) local bus and peripheral component interconnect (Peripheral Component Interconnect, PCI) bus.
  • Electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by electronic device 12 and include both volatile and nonvolatile media, removable and non-removable media.
  • System memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and/or cache memory 32 .
  • the electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media.
  • storage system 34 may be used to read and write to non-removable, non-volatile magnetic media (not shown in FIG. 8, commonly referred to as a "hard drive”).
  • a disk drive for reading and writing to a removable non-volatile disk such as a "floppy disk”
  • a disk drive for a removable non-volatile disk such as a "floppy disk”
  • a disk drive for a removable non-volatile disk such as a compact disc ROM.
  • System memory 28 may include at least one program product having a set (eg, at least one) of program modules configured to perform the functions of various embodiments of the present application.
  • Program/utility 40 may be stored, for example, in system memory 28 as a set (at least one) of program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include the realization of the network environment.
  • the program modules 42 generally perform the functions and/or methods of the embodiments described herein.
  • the electronic device 12 may also communicate with one or more external devices 14 (e.g., a keyboard, pointing device, display 24, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 12, and/or communicate with Any device (eg, network card, modem, etc.) that enables the electronic device 12 to communicate with one or more other computing devices. This communication can be performed through an input/output (Input/Output, I/O) interface 22 .
  • the electronic device 12 can also communicate with one or more networks (such as a local area network (Local Area Network, LAN), a wide area network (Wide Area Network, WAN) and/or a public network, such as the Internet) through the network adapter 20. As shown in FIG.
  • network adapter 20 communicates with other modules of electronic device 12 via bus 18 .
  • other hardware and/or software modules may be used in conjunction with electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, disk arrays (Redundant Arrays of Independent Disks, RAID) systems, tape drives, and data backup storage systems.
  • the processing unit 16 executes various functional applications and determination of pose information by running the program stored in the system memory 28, for example, realizing the steps of a method for determining pose information provided in the embodiment of the present application.
  • the method for determining pose information includes :
  • the real-time measurement values include real-time linear acceleration measurement values, real-time angular velocity measurement values and magnetic field measurement values;
  • the variation value of the magnetic field measurement value within a preset time is within a preset magnetic field threshold range, then determine the measured object based on the real-time linear acceleration measurement value, the real-time angular velocity measurement value, and the magnetic field measurement value pose information.
  • processor may also implement embodiments of the method for determining pose information provided in any embodiment of the present application.
  • This embodiment provides a computer-readable storage medium, on which a computer program is stored.
  • the program is executed by a processor, for example, the steps of a method for determining pose information provided by the embodiment of the present invention are realized.
  • the pose information determination method includes:
  • the real-time measurement values include real-time linear acceleration measurement values, real-time angular velocity measurement values and magnetic field measurement values;
  • the variation value of the magnetic field measurement value within a preset time is within a preset magnetic field threshold range, then determine the measured object based on the real-time linear acceleration measurement value, the real-time angular velocity measurement value, and the magnetic field measurement value pose information.
  • the computer storage medium in the embodiments of the present application may use any combination of one or more computer-readable media.
  • the computer readable medium may be a computer readable signal medium or a computer readable storage medium.
  • a computer-readable storage medium may be, for example but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof.
  • Examples (non-exhaustive list) of computer-readable storage media include: electrical connections with one or more leads, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable Programmable Read-Only Memory (Erasable Programmable Read-Only Memory, EPROM) or flash memory, optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.
  • a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
  • a computer readable signal medium may include a data signal carrying computer readable program code in baseband or as part of a carrier wave. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • a computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. .
  • the program code contained on the computer readable medium can be transmitted by any appropriate medium, including but not limited to: wireless, electric wire, optical cable, radio frequency (Radio Frequency, RF), etc., or any suitable combination of the above.
  • the storage medium may be a non-transitory storage medium.
  • Computer program codes for performing the operations of the present application may be written in one or more programming languages or combinations thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional Procedural Programming Language - such as "C" or a similar programming language.
  • the program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server.
  • the remote computer can be connected to the user computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (such as through the Internet using an Internet service provider).
  • LAN local area network
  • WAN wide area network
  • Internet service provider such as AT&T, MCI, Sprint, EarthLink, MSN, GTE, etc.
  • each module or each step of the above-mentioned application can be realized by a general-purpose computing device, and they can be concentrated on a single computing device, or distributed on a network formed by multiple computing devices.
  • they can be implemented with executable program codes of computer devices, so that they can be stored in storage devices and executed by computing devices, or they can be made into individual integrated circuit modules, or a plurality of modules in them Or the steps are fabricated into a single integrated circuit module to realize.
  • the application is not limited to any specific combination of hardware and software.
  • the following is an embodiment of the multi-sensor-based pose information redundancy check method provided by the embodiment of the present application.
  • This method belongs to the same inventive concept as the surgical platform positioning system of the above-mentioned embodiments.
  • the multi-sensor-based pose information For the details not described in the embodiment of the redundancy check method, reference may be made to the above embodiment of the operating platform positioning system. This method can ensure the reliability of the pose information calculated by the pose acquisition module.
  • FIG. 9 is a schematic diagram of hardware requirements of an embodiment of the present application.
  • the pose acquisition module 130 includes two inertial sensor units.
  • the pose acquisition module is denoted as HRD
  • the two inertial sensor units are denoted as IMU1 and IMU2 respectively, which are respectively installed in HRD.
  • REF1 and REF2 respectively represent the reference coordinate system of the pose information measured by IMU1 and IMU2.
  • the coordinate system directions X, Y, and Z represent the pose orientation of each object, and the coordinate origin represents the spatial position of each object; the two inertial sensor units are fixedly installed in the pose acquisition module, and their installation positions and orientations are different. Requirements are made, but their respective positions and orientations relative to the pose acquisition module are known and kept fixed.
  • T represents a homogeneous transformation matrix, including rotation information and translation information, (T subscript superscript ) represents the relative pose of the subscript object under the reference of the superscript object;
  • T HRD ) 1 represents the pose information of HRD obtained by IMU1
  • T HRD ) 2 represents the pose information of HRD obtained by IMU2;
  • ⁇ T represents the error between the pose of the HRD obtained by IMU1 and the pose of the HRD obtained by IMU2;
  • R represents the direction rotation matrix
  • (R subscript superscript ) represents the attitude information (rotation orientation) of the subscript object under the reference of the superscript object;
  • ⁇ R represents the error rotation matrix between the attitude orientation of HRD obtained by IMU1 and the attitude orientation of HRD obtained by IMU2;
  • P represents the position vector
  • (P subscript superscript ) represents the relative position of the subscript object under the reference of the superscript object
  • ⁇ P represents the error position vector between the position of HRD obtained by IMU1 and the position of HRD obtained by IMU2;
  • H is the inertial sensor configuration matrix, which is defined as:
  • m est [m est1 , m est2 , m est3 , m est4 , m est5 , m est6 ] T is the estimated value of each angular velocity sensor in IMU1 and IMU2;
  • m err [m err1 , m err2 , m err3 , m err4 , m err5 , m err6 ] T is the error value of each angular velocity sensor in IMU1 and IMU2;
  • ⁇ est [ ⁇ x , ⁇ y , ⁇ z ] T is the estimated angular velocity in each direction of the HRD coordinate axis;

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Abstract

一种手术平台定位系统、位姿信息确定方法以及装置。该系统包括：定位模块（110）、至少一个手术平台（120）和至少一个位姿获取模块（130）；其中，至少一个位姿获取模块（130）设置为安装在被测对象上，获取被测对象的初始位姿信息，并将初始位姿信息发送至定位模块（110）；其中，被测对象包括至少一个手术平台（120），或者，包括定位模块（110）和至少一个手术平台（120）；定位模块（110）设置为接收位姿获取模块（130）发送的初始位姿信息，并基于初始位姿信息确定每个被测对象在同一空间内的目标位姿信息。

Description

手术平台定位系统、位姿信息确定方法以及装置
本申请要求在2022年03月03日提交中国专利局、申请号为202210202296.X的中国专利申请的优先权，以上申请的全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及计算机技术领域，例如涉及一种手术平台定位系统、位姿信息确定方法以及装置。
背景技术
现有手术平台可以分为单立柱式(类似于da Vinci Xi手术系统)和分体多立柱式两种，其中分体式多立柱手术平台系统在手术前，需要定位各个机械臂的相对朝向和/或位置关系，此信息是后续遥操作的必要条件之一。
现有方案通常使用机器视觉的方法进行机械臂术前定位，采用单目或多目相机对固定于机械臂或台车的目标点或特征图案进行识别，从而确定机械臂或台车在视觉系统下的定位，或者基于人工配准的方式，操作人员手动调整台车或机械臂与参照物进行主观目测对齐。
相关技术在实施过程中通常存在如下问题：第一种、基于视觉的方法易受环境因素影响，如光照、反光、噪点、遮挡等问题，造成术前准备过程复杂，需要反复调整操作才能完成配准工作，针对摆位特殊的术式，仅靠单台相机设备甚至无法完成定位工作；第二种、基于人工主观目测的方式容易受人为因素影响，难以保证精度及可靠性，并且只能确定台车的朝向信息。上述两种方案在实施过程中较为繁琐，并且可能会导致手术平台的定位结果不准确，从而影响后续的手术结果。
发明内容
本申请提供一种手术平台定位系统、位姿信息确定方法以及装置。
第一方面，本申请实施例提供了一种手术平台定位系统，该系统包括：
定位模块、至少一个手术平台和至少一个位姿获取模块；其中，
所述至少一个位姿获取模块用于安装在被测对象上，获取所述被测对象的初始位姿信息，并将所述初始位姿信息发送至所述定位模块；其中，所述被测对象包括至少一个手术平台，或者，包括定位模块和至少一个手术平台；
所述定位模块设置为接收所述位姿获取模块发送的所述初始位姿信息，并 基于所述初始位姿信息确定各所述被测对象在同一空间内的目标位姿信息。
第二方面，本申请实施例还提供了一种位姿信息确定方法，该方法包括：
获取所述被测对象的实时测量值；其中，所述实时测量值包括实时线加速度测量值、实时角速度测量值和实时磁场测量值；
响应于预设时间内所述实时磁场测量值的变化量值在预设磁场阈值范围内，基于所述实时线加速度测量值、所述实时角速度测量值和所述实时磁场测量值确定所述被测对象的实时位姿信息。
第三方面，本申请实施例还提供了一种基于多传感器的位姿信息冗余校验的方法，应用于本申请任意实施例提供的手术平台定位系统，其中，所述位姿获取模块中包含至少两个惯性传感器单元；
所述方法包括：
基于多个惯性传感器单元所反馈的测量信号以及通过每个惯性传感器单元所间接得到的位姿信息，计算不同惯性传感器单元的测量信号误差及位姿误差；
通过设置误差阈值，并将测量信号误差、位姿误差分别与所述误差阈值比较，确定当前通过所述位姿获取模块所反馈的位姿信息是否可靠。
第四方面，本申请实施例还提供了一种电子设备，所述电子设备包括：
一个或多个处理器；
存储装置，设置为存储一个或多个程序，
当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如本申请任意实施例提供的位姿信息确定方法或基于多传感器的位姿信息冗余校验的方法。
第五方面，本申请实施例还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现本申请任意实施例提供的位姿信息确定方法或基于多传感器的位姿信息冗余校验的方法。
附图说明
为了说明本申请示例性实施例，下面对描述实施例中所需要用到的附图做一简单介绍。显然，所介绍的附图只是本申请所要描述的一部分实施例的附图，而不是全部的附图，对于本领域普通技术人员，在不付出创造性劳动的前提下，还可以根据这些附图得到其他的附图。
图1是本申请实施例提供的一种手术平台定位系统的结构示意图；
图2是本申请实施例提供的一种手术平台的结构示意图；
图3是本申请实施例提供的另一种手术平台定位系统的结构示意图；
图4是本申请实施例提供的另一种手术平台定位系统的结构示意图；
图5是本申请实施例提供的另一种手术平台定位系统的结构示意图；
图6是本申请实施例提供的一种位姿信息确定方法的流程示意图；
图7是本申请实施例提供的另一种位姿信息确定方法的流程示意图；
图8为本申请实施例提供的电子设备的结构示意图；
图9为本申请实施例提供的一种基于多惯性传感器的位姿信息冗余校验方法对应的结构示意图。
具体实施方式
本申请提供一种手术平台定位系统、位姿信息确定方法以及装置，以实现简便且快速的完成手术平台的定位操作，并且实现提高定位准确性。
下面结合附图和实施例对本申请进行说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本申请，而非对本申请的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本申请相关的部分而非全部结构。
实施例一
图1为本申请实施例一提供的手术平台定位系统的结构示意图，本实施例可对手术室内的手术平台进行定位；例如，可以对已移动到预设位置的各手术平台进行定位，从而确定各手术平台之间的位姿关系。
参见图1，该手术平台定位系统的结构包括：
定位模块110、至少一个手术平台120和至少一个位姿获取模块130；其中，
位姿获取模块130用于安装在被测对象上，获取被测对象的初始位姿信息，并将初始位姿信息发送至定位模块110；其中，被测对象包括至少一个手术平台120，或者，包括定位模块110和至少一个手术平台120；
定位模块110用于接收位姿获取模块130发送的初始位姿信息，并基于初始位姿信息确定各被测对象在同一空间内的目标位姿信息。
本申请实施例中，手术平台120可以是用于在手术室内执行手术操作的手术平台120，对于本领域技术人员来说，手术平台120也可以简称为台车。一般情况下，为了医生可以远程操作手术平台120进行手术，需要预先将手术平台120移动到达预设的手术位置，并对手术平台120朝向角度调整，使手术平台120根据每台手术的术式不同到达需要的预设位姿状态。再通过定位系统，反馈到手术机器人，从而使手术平台120可以直接执行医生通过控制台下发的操作 指令。
需要说明的是，根据需要操作的手术术式的不同，需要的手术平台120数量也相应变化。因此，本实施例中手术平台120的数量可以为一台、也可以为多台，对此不作限定。
例如，如图2所示，本实施例中的手术平台120包括平台主体1201、平台机械臂1202和手术器械1203。其中，手术平台120的平台主体1201底部还安装有滑轮，便于将手术平台120移动到预设位置。手术平台120的平台机械臂1202的底端与平台主体1201连接，以使平台主体1201支撑平台机械臂1202，在一实施例中，平台机械臂1202的末端与手术器械1203可拆卸安装，以使在执行不同操作的情况下，安装不同的手术器械1203。
在一实施例中，本实施例中可以采用位姿获取模块130和定位模块110确定各被测对象的在同一空间下的目标位姿信息，从而实现对各手术平台120在手术室内的精确定位。例如，位姿获取模块130可以获取其本体的位姿信息，将其安装于被测对象上，从而可以实现获取被测对象的初始位姿信息，并将初始位姿信息发送至定位模块110。
需要解释的是，位姿获取模块130包括惯性传感器单元、处理单元和通信单元；其中，惯性传感器单元包括线加速度传感器、陀螺仪角速度传感器、磁场传感器和温度传感器，用于获取被测对象的初始测量信息；处理单元，用于基于初始测量信息确定被测对象的初始位姿信息；通信单元，用于将初始位姿信息发送至定位模块110。定位模块110接收位姿获取模块130发送的初始位姿信息，并基于初始位姿信息确定各被测对象在同一空间内的目标位姿信息。
例如，基于惯性传感器单元中的线性加速度传感器采集被测对象的实时线加速度测量值，基于陀螺仪角速度传感器采集被测对象的实时角速度测量值，以及基于磁场测量仪采集被测对象的所处环境的实时磁场强度值。在一实施例中，基于温度传感器检测各传感器的温度，并基于预设温度模型对各初始测量信息进行数值修正，得到修正后的实时测量信息。若预设时间内磁场测量值的变化量值在预设磁场阈值范围内，则基于处理单元对实时测量信息中的实时线加速度测量值、实时角速度测量值和实时磁场测量值进行信息处理，从而确定被测对象的实时位姿信息。进而，基于通信单元将得到的位姿信息发送至定位模块110；在一实施例中，通信单元可采用有线或无线的方式进行位姿信息的传输。
在一示例中，处理单元可以是单片微型计算机处理单元。
在一示例中，通信单元可以是一个由通信芯片及电气接口组成的部件。
在上述实施例的基础上，位姿获取模块130还包括电池供电单元、用户指示灯以及用户交互按键；例如，电池供电单元用于向各传感器提供电源，保持各传感器可以持续工作；用户指示灯可以向医生等用户进行当前位姿获取模块130的状态指示；例如，正在获取位姿的状态提示和获取完成的状态提示等；用户交互按键可以包括位姿信息获取按键等按键，用于用户对当前位姿获取模块130进行操作，从而使位姿获取模块130进行工作。
本申请实施例中，被测对象可以理解为在手术室内需要定位的设备。例如，被测对象可以包括至少一个手术平台120，或者，包括定位模块110和至少一个手术平台120。
在一实施例中，在被测对象包括至少一个手术平台120的情况下，位姿获取模块130用于安装在各手术平台120上，并获取各手术平台120的初始位姿信息；定位模块110用于基于各初始位姿信息确定各手术平台120在同一空间内的目标位姿信息。
在示例一中，将位姿获取模块分别安装于各手术平台120上，首先获取任一手术平台120的初始位姿信息，并基于该初始位姿信息建立初始空间坐标系，并基于该初始空间坐标系依次确定其他手术平台120的初始位姿信息，进而定位模块110基于获取到的各手术平台120的初始位姿信息确定各手术平台120之间的相对位姿信息。其中，本实施例中的相对位姿信息可以理解为是以最初手术平台120为坐标基准点而确定的当前手术平台120的位姿信息。本实施例中直接确定各手术平台120之间的相对位姿信息，可以减少位姿信息的数据量，在有多个手术平台120同时需要定位的情况下，可以快速进行定位得到定位结果，提升定位效率。
示例性的如图3所示，首先获取手术平台A的初始位姿信息A，并以该初始位姿信息A为坐标原点确定手术平台B的初始位姿信息B，以及以初始位姿信息A为原点确定手术平台C的初始位姿信息C。
在示例二中，将一个位姿获取模块130依次安装到每个手术平台120上；位姿获取模块130在安装、卸载及手持移动过程中保持测量状态以实时计算位姿信息；位姿获取模块130在安装到每个手术平台120时，记录手术平台120的初始位姿信息并将其发送至定位模块110；定位模块110将获取到的任一手术平台120的初始位姿信息作为参考坐标系，根据其它手术平台120的初始位姿信息，可计算得到每个手术平台120在同一空间内的目标位姿信息。
示例性的如图3所示，可以分别获取手术平台A的初始位姿信息A、手术平台B的初始位姿信息B以及手术平台C的初始位姿信息C。
在一实施例中，定位模块110基于初始位姿信息A、初始位姿信息B和初始位姿信息C，确定手术平台A、手术平台B和手术平台C，三台手术平台120在当前手术室内的目标位姿信息。
在一实施例中，在被测对象包括定位模块110和至少一个手术平台120，以及定位模块110包括定位单元和第一基准单元的情况下，位姿获取模块130用于依次安装在第一基准单元和各手术平台120上，并获取第一基准单元的初始位姿信息和各手术平台120的初始位姿信息；定位单元用于基于第一基准单元的初始位姿信息和各手术平台的初始位姿信息确定各手术平台120在第一基准单元为参考坐标系下的目标位姿信息。
在一示例中，第一基准单元可以是手术室内的某一个设备对象。
例如，将位姿获取模块依次安装于第一基准单元和各手术平台120上，首先定位模块110分别获取第一基准单元的初始位姿信息，以及各手术平台120的初始位姿信息，定位模块110基于以获取到的第一基准单元的初始位姿信息为参考基准建立空间坐标系，利用各手术平台120的初始位姿信息确定在第一基准单元为参考坐标系下的绝对位姿信息。其中，本实施例中的绝对位姿信息可以理解为是以第一基准单元的初始位姿信息为坐标基准点而确定的当前手术平台120的绝对位姿信息。采用绝对位姿信息可以确定各手术平台120基于同一坐标的位姿信息。
示例性的如图4所示，集成中枢作为第一基准单元，相应的首先获取集成中枢的初始位姿信息，并以该初始位姿信息为坐标原点分别确定手术平台A、手术平台B和手术平台C的初始位姿信息A、初始位姿信息B和初始位姿信息C。在一实施例中，定位模块110基于初始位姿信息A、初始位姿信息B和初始位姿信息C，确定手术平台A、手术平台B和手术平台C，三台手术平台120在当前手术室内的相对位姿信息。需要说明的是，上述实施例中的第一基准单元设置于集成中枢(定位模块110)中，则相应的位姿获取模块130则安装于集成中枢上，用于获取第一基准单元的初始位姿信息；本实施例中的第一基准单元还可以设置于其他位置，例如可以是设置于手术室中的其他预设的校准基座，相应的位姿获取模块130则安装在该校准基座上；第一基准单元还可以基于实际情况设置于其他位置，本实施例对第一基准单元的设置位置不加以限制。
在上述实施例的基础上，本实施例的位姿获取模块130与被测对象的安装 关系包括可拆卸安装和固定安装。
在示例一中，在被测对象还包括第二基准单元，位姿获取模块130与被测对象的安装关系为固定安装的情况下；不同位姿获取模块130用于分别安装在第二基准单元和各手术平台120上，并获取第二基准单元的初始位姿信息和各手术平台120的初始位姿信息；定位单元110用于基于第二基准单元的初始位姿信息和各手术平台120的初始位姿信息确定第二基准单元和各手术平台120在同一空间内的目标位姿信息。
在示例二中，在被测对象还包括第二基准单元，位姿获取模块130与被测对象的安装关系为固定安装的情况下；不同位姿获取模块130用于分别安装在各手术平台120上，并获取各手术平台120的第一初始位姿信息和第二初始位姿信息；定位单元110用于基于位姿获取模块130所测量各手术平台的第一初始位姿信息和第二初始位姿信息确定第二基准单元和各手术平台120在同一空间内的目标位姿信息。
本实施例中，第二基准单元可以理解为预设在手术室内的校准基座。例如，将第二基准单元和各手术平台120作为被测对象，并基于位姿获取模块130获取各被测对象的初始位姿信息。
示例性的参照图5，校准基座可以是固定于手术室内的一个基座架，该基座架可固定于地面或墙面，可与任一手术平台120进行机械及电气对接，机械对接机构包含导向机构及锁定机构，确保手术平台120可推至该基座并唯一得进行锁止固定；固定后，将接通手术平台120与基座架的电气接口，触发手术平台120固定安装的位姿获取模块130，设定当前基座处由所测得的第一初始位姿信息为参考坐标系基准。在一实施例中，依次将各手术平台120推至校准基座处，通过上述对接装置使得手术平台120与校准基座对接，并检测是否对接到位。
在示例一中，对接信号触发后，平台内惯性传感器将进行方向及位置重置，并设置校准基座为绝对参考；其后将平台推至预设的手术位置，进而，由内置惯性传感器测得平台在绝对参考坐标系下的最终朝向及位置。
在上述示例一的基础上，在被测对象包括至少一个手术平台120的情况下，可以某一确定手术平台A为参考基准，手术平台B与手术平台C分别依次与手术平台A进行对接后(对接机构采用与上述相似的对接方式)，再推至手术位进行固定，则手术平台B与手术平台C相对于手术平台A的初始位姿信息将被台车内部各自惯性传感器测量得到。进一步的，基于定位模块110基于获取到的 各初始位姿信息确定各手术平台120的相对位姿信息。
在示例二中，对接信号触发后，手术平台120内部固定安装的位姿获取模块130测量得到当前位置的第一初始位姿信息并发送至定位模块110；其后将手术平台120推至预设的手术位置后，锁定平台触发位姿获取模块130测量得到当前位置的第二初始位姿信息并发送至定位模块110；最终定位模块110基于每个手术平台120的第一初始位姿信息和第二初始位姿信息可以确定各平台在以基座架(第二基准单元)为绝对参考坐标系下的目标位姿信息。
在上述示例二的基础上，在被测对象包括至少两个手术平台120的情况下，可以某一确定手术平台A在锁定的情况下作为第二基准单元，手术平台A的第一初始位姿信息和第二初始位姿信息相同(为当前锁定状态下的位姿)，手术平台B与手术平台C分别依次与手术平台A进行对接后(对接机构采用与上述相似的对接方式)获取第一初始位姿信息，再推至手术位进行锁定获取第二初始位姿信息；同样的，定位模块110基于各手术平台120的第一初始位姿信息和第二初始位姿信息可以确定各平台在以手术平台A(第二基准单元)为绝对参考坐标系下的目标位姿信息。
在一实施例中，在位姿获取模块130与被测对象的安装关系为可拆卸安装的情况下，位姿获取模块130依次可拆卸地安装在被测对象上。例如，被测对象设置有安装机构140；其中，安装机构140包括导向槽和锁定机构，导向槽用于承载位姿获取模块130；锁定机构用于将位姿获取模块130固定于导向槽中。本实施例中采用可拆卸的位姿获取模块130可以简化各被测对象之间的对接流程，操作方便，在术前准备阶段降低对手术工作流的干预；并且相较于依赖人工主观配准的方式，精度会显著提高。
在一实施例中，若被测对象包括至少一个手术平台120，则基准对象包括任一手术平台120，用于确定基准坐标点。例如，依旧参照图3，位姿获取模块130的初始位置可固定于任一指定的手术平台120上，例如手术平台A的模块安装机构处，获取当前手术平台A的初始位姿信息，并以该初始位姿信息作为基准坐标点建立参考基准坐标系；在一实施例中，拆卸下位姿获取模块130后，并将其固定于其它手术平台B，则手术平台B相对于手术平台A的相对初始位姿信息获取得到，依次完成对手术室内其他待定位的手术平台120的定位。
在一实施例中，若被测对象包括至少一个手术平台120和定位模块110，则基准对象包括定位模块110，用于确定基准坐标点。
例如，依旧参照图4，首先将位姿获取模块130固定于集成中枢(第一基准 单元)的模块安装机构处，其朝向和位置将被设置为参考基准坐标系，当用户启动位姿获取模块130工作，如操作启动按钮，则集成中枢的初始位姿信息被位姿获取模块130获取得到，并基于获取得到的初始位姿信息建立空间坐标系；在一实施例中，用户可以将集成中枢的位姿获取模块130拆卸，并将其固定于任一手术平台120，此时手术平台120在参考基准坐标系下的初始位姿信息将被获取；相应的其他手术平台120的初始信息，采用同样的方式获取，并发送至定位单元110，以使定位单元110基于各初始位姿信息确定第一基准单元和各手术平台120在同一空间坐标系下的目标位姿信息。本实施例中的第一基准单元还可以设置于除集成中枢以外的其他位置，例如可以是设置于手术室中的其他预设的校准基座，相应的位姿获取模块130则安装在该校准基座上；相应的，首先将位姿获取模块130固定于参考基准(第一基准单元)的模块安装机构处，其朝向和位置将被设置为参考基准坐标系，当用户启动位姿获取模块130工作，如操作启动按钮，则集成中枢的初始位姿信息被位姿获取模块130获取得到，并基于获取得到的初始位姿信息建立空间坐标系；第一基准单元还可以基于实际情况设置于其他位置，本实施例对第一基准单元的设置位置不加以限制。
在上述实施例的基础上，位姿获取模块130用于安装在平台主体、所述平台机械臂和所述手术器械中任一安装位置。在一实施例中，若位姿获取模块130安装于平台本体上，基于平台本体的安装机构与平台之间的空间关系，则手术平台120的空间朝向及位置可通过获取得到的初始位姿信息进行坐标变换间接计算得到。在一实施例中，若位姿获取模块130安装于手术平台120的平台机械臂上，则手术平台120的空间朝向位置需结合当前平台机械臂正向运动学，即通过机械臂关节位置、机械臂尺寸构型以及测量模块朝向共同计算得出；机械臂关节内含有绝对值编码器进行关节角测量，机械臂尺寸构型为预先设置的尺寸数值，故手术平台120的空间朝向位置可通过获取得到的初始位姿信息结合机械臂运动学坐标变换后被唯一确定。
另外，该采用可拆卸位姿获取模块130的方法同样可应用于确定手术平台120与手术床的相对朝向位置关系；相应的，在手术床固定位置处设置与上述相同的安装机构，设定手术床长边方向为x轴，短边方向为y轴，垂直于床面向上的方向为z轴，使用位姿获取模块130安装于手术床后，即可获取得到手术床在参考坐标基准下的目标位姿信息。本实施例还可以获取其他手术设备在手术室内的目标位姿信息，即将位姿获取模块130安装于其他手术设备上即可实现。
本实施例提供的手术平台定位系统包括：定位模块110、至少一个手术平台120和至少一个位姿获取模块130；其中，所述位姿获取模块130用于安装在被测对象上，获取所述被测对象的初始位姿信息，并将所述初始位姿信息发送至所述定位模块110；其中，所述被测对象包括至少一个手术平台120，或者，包括定位模块110和至少一个手术平台120；所述定位模块110用于接收所述位姿获取模块130发送的所述初始位姿信息，并基于所述初始位姿信息确定各所述被测对象在同一空间内的目标位姿信息。通过上述手术平台定位系统实现了可以快速且准确的对手术室内的手术平台120的位姿信息的确定，提高了确定的准确性和便捷性和可靠性。
以下是本申请实施例提供的位姿信息确定方法的实施例，该方法与上述各实施例的手术平台定位系统属于同一个发明构思，在位姿信息确定方法的实施例中未描述的细节内容，可以参考上述手术平台定位系统的实施例。
图6为本申请实施例提供的一种位姿信息确定方法的流程图，本实施例可对手术室内的手术平台进行定位；例如，可以对移动到预设位置的各手术平台进行定位，从而确定各手术平台之间的位姿关系。该方法可以由手术平台定位系统来执行，该系统可以由软件和/或硬件的方式来实现。如图6所示，该方法包括以下步骤：
S210、获取被测对象的实时测量值；其中，实时测量值包括实时线加速度测量值、实时角速度测量值和实时磁场测量值。
S220、若预设时间内实时磁场测量值的变化量值在预设磁场阈值范围内，则基于实时线加速度测量值、实时角速度测量值和实时磁场测量值确定被测对象的实时位姿信息。
相关技术中通常使用机器视觉的方法进行机械臂术前定位，采用单目或多目相机对固定于手术平台的目标点或特征图案进行识别，从而确定手术平台在视觉系统下的定位，但基于视觉的方法易受环境因素影响，如光照、反光、噪点、遮挡等问题，造成术前准备过程复杂，需要反复调整操作才能完成定位工作。并且针对摆位特殊的术式，仅靠单台相机设备甚至无法完成定位工作；还有方式基于人工定位的方式对机械臂进行术前摆位，操作人员手动调整手术平台与参照物进行主观目测对齐，该方式受人为因素影响，难以保证精度及可靠性，并且只能确定手术平台的朝向信息。还有相关技术基于磁场计进行手术平台方向定位，此方式一般以地磁北方向为参考基准，利用固定于手术平台上的磁场计进行地磁方向的测量，从而确定手术平台与地磁北的方向夹角，但由于 手术室内铁磁环境的不确定性以及磁场干扰的存在，导致测量结果鲁棒性较差、测量偏差不可控，并且磁场干扰带来的误差往往难以观测分析，同样该方法只能确定手术平台的朝向信息。
为解决上述操作复杂、手术工作流干预大、测量可靠性差的问题，本申请实施例的技术采用惯性传感器融合算法以实现对当前惯性传感器进行空间姿态的检测。但是，传统的惯性传感器融合算法仅融合线加速度计与陀螺仪角速度计的测量数据，通过结合测量得到的重力加速度方向与角速度积分角来计算物体在空间中的朝向，但该方法存在如下三个问题：1、在偏航角方向上缺乏参考基准，只能得到较初始状态的相对角度方向；2、在偏航角方向上由于缺乏参考修正，存在严重的角度漂移问题；3、无法得到物体的空间位置。
为解决上述问题，本申请实施例采用惯性传感器作为位姿信息获取单元，以获取被测对象的位姿信息。例如，位姿信息包括方向角度和空间位置；
相应的，基于实时线加速度测量值、实时角速度测量值和实时磁场测量值确定被测对象的实时位姿信息的方法包括：对实时线加速度测量值和实时角速度测量值进行测量值处理，分别得到被测对象的实时重力加速度方向和实时角速度方向；对实时磁场测量值、实时重力加速度方向和实时角速度方向进行方向融合处理，生成被测对象的实时方向角度；对实时线加速度测量值和实时角速度测量值进行加速度提取，生成被测对象的实时空间位置。
例如，如图7所示，通过传感器测量得到的实时线加速度测量值、实时角速度测量值和实时磁场测量值。在一实施例中，对基于测量到的磁场测量值进行干扰检测，判断传感器的测量值是否有磁场的干扰。若磁场测量值在预设时间间隔内没有变化，或者变化值小于预设阈值范围，则说明当前磁场没有受到干扰，可以基于当前各传感器的测量值进行位姿信息的获取。在一实施例中，分别获取到的实时线加速度测量值、实时角速度测量进行数值积分处理，并对积分后的测量值和磁场测量值进行方向融合计算，从而得到传感器相对于上一测量时刻的三维(3-dimensional，3D)朝向变化。本实施例中，温度传感器用于检测各传感单元的温度并基于温度模型对传感器测量值进行修正。
需要说明的是，本申请的实施例没有利用磁场强度方向为方向参考基准，仅利用磁场测量值作为监测磁场干扰的判断依据，在传感器静止状态下，相对稳定的磁场可辅助前述融合计算结果进行稳定，从而抑制在静止状态下，仅依赖于重力加速度方向和角速度积分得到的方向角度漂移问题。
在一实施例中，对加速度计的实时测量值和角速度计的实时测量值进行分 解，得到物体除重力加速度及向心加速度以外的线性加速度，并通过对线性加速度的二次积分得到物体在空间中的实时3D位置。
以下是本申请实施例提供的手术平台定位装置的实施例，该装置与上述各实施例的手术平台定位系统和方法属于同一个发明构思，在手术平台定位装置的实施例中未描述的细节内容，可以参考上述手术平台定位系统和方法的实施例。
图8为本申请实施例提供的一种电子设备的结构示意图。图8示出了适于用来实现本申请实施方式的示例性电子设备12的框图。图8显示的电子设备12仅仅是一个示例，不应对本申请实施例的功能和使用范围带来任何限制。
如图8所示，电子设备12以通用计算电子设备的形式表现。电子设备12的组件可以包括但不限于：一个或者多个处理器或者处理单元16，系统存储器(内存)28，连接不同系统组件(包括系统存储器28和处理单元16)的总线18。
总线18表示几类总线结构中的一种或多种，包括存储器总线或者存储器控制器，外围总线，图形加速端口，处理器或者使用多种总线结构中的任意总线结构的局域总线。举例来说，这些体系结构包括但不限于工业标准体系结构(Industry Standard Architecture，ISA)总线，微通道体系结构(Micro Channel Architecture，MCA)总线，增强型ISA总线、视频电子标准协会(Video Electronics Standards Association，VESA)局域总线以及外围组件互连(Peripheral Component Interconnect，PCI)总线。
电子设备12典型地包括多种计算机系统可读介质。这些介质可以是任何能够被电子设备12访问的可用介质，包括易失性和非易失性介质，可移动的和不可移动的介质。
系统存储器28可以包括易失性存储器形式的计算机系统可读介质，例如随机存取存储器(Random Access Memory，RAM)30和/或高速缓存存储器32。电子设备12可以进一步包括其它可移动/不可移动的、易失性/非易失性计算机系统存储介质。仅作为举例，存储系统34可以用于读写不可移动的、非易失性磁介质(图8未显示，通常称为“硬盘驱动器”)。尽管图8中未示出，可以提供用于对可移动非易失性磁盘(例如“软盘”)读写的磁盘驱动器，以及对可移动非易失性光盘(例如紧凑型光盘只读储存器(Compact Disc Read-Only Memory，CD-ROM)，数字通用光盘(Digital Versatile Disc，DVD)-ROM或者其它光介质)读写的光盘驱动器。在这些情况下，每个驱动器可以通过一个或 者多个数据介质接口与总线18相连。系统存储器28可以包括至少一个程序产品，该程序产品具有一组(例如至少一个)程序模块，这些程序模块被配置以执行本申请各实施例的功能。
具有一组(至少一个)程序模块42的程序/实用工具40，可以存储在例如系统存储器28中，这样的程序模块42包括但不限于操作系统、一个或者多个应用程序、其它程序模块以及程序数据，这些示例中的每一个或某种组合中可能包括网络环境的实现。程序模块42通常执行本申请所描述的实施例中的功能和/或方法。
电子设备12也可以与一个或多个外部设备14(例如键盘、指向设备、显示器24等)通信，还可与一个或者多个使得用户能与该电子设备12交互的设备通信，和/或与使得该电子设备12能与一个或多个其它计算设备进行通信的任何设备(例如网卡，调制解调器等等)通信。这种通信可以通过输入/输出(Input/Output，I/O)接口22进行。并且，电子设备12还可以通过网络适配器20与一个或者多个网络(例如局域网(Local Area Network，LAN)，广域网(Wide Area Network，WAN)和/或公共网络，例如因特网)通信。如图8所示，网络适配器20通过总线18与电子设备12的其它模块通信。应当明白，尽管图8中未示出，可以结合电子设备12使用其它硬件和/或软件模块，包括但不限于：微代码、设备驱动器、冗余处理单元、外部磁盘驱动阵列、磁盘阵列(Redundant Arrays of Independent Disks，RAID)系统、磁带驱动器以及数据备份存储系统等。
处理单元16通过运行存储在系统存储器28中的程序，从而执行各种功能应用以及位姿信息确定，例如实现本申请实施例所提供的一种位姿信息确定方法步骤，位姿信息确定方法包括：
获取所述被测对象的实时测量值；其中，所述实时测量值包括实时线加速度测量值、实时角速度测量值和磁场测量值；
若预设时间内所述磁场测量值的变化量值在预设磁场阈值范围内，则基于所述实时线加速度测量值、所述实时角速度测量值和所述磁场测量值确定所述被测对象的位姿信息。
本领域技术人员可以理解，处理器还可以实现本申请任意实施例所提供的位姿信息确定方法的实施例。
本实施例提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现例如实现本发实施例所提供的一种位姿信息确定方法步 骤，位姿信息确定方法包括：
获取所述被测对象的实时测量值；其中，所述实时测量值包括实时线加速度测量值、实时角速度测量值和磁场测量值；
若预设时间内所述磁场测量值的变化量值在预设磁场阈值范围内，则基于所述实时线加速度测量值、所述实时角速度测量值和所述磁场测量值确定所述被测对象的位姿信息。
本申请实施例的计算机存储介质，可以采用一个或多个计算机可读的介质的任意组合。计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质例如可以是但不限于：电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(Erasable Programmable Read-Only Memory，EPROM)或闪存、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本文件中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。
计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。
计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于：无线、电线、光缆、射频(Radio Frequency，RF)等等，或者上述的任意合适的组合。
存储介质可以是非暂态(non-transitory)存储介质。
可以以一种或多种程序设计语言或其组合来编写用于执行本申请操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言，诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言-诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形 中，远程计算机可以通过任意种类的网络，包括局域网(LAN)或广域网(WAN)，连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。
本领域普通技术人员应该明白，上述的本申请的各模块或各步骤可以用通用的计算装置来实现，它们可以集中在单个计算装置上，或者分布在多个计算装置所组成的网络上，可选地，他们可以用计算机装置可执行的程序代码来实现，从而可以将它们存储在存储装置中由计算装置来执行，或者将它们分别制作成各个集成电路模块，或者将它们中的多个模块或步骤制作成单个集成电路模块来实现。这样，本申请不限制于任何特定的硬件和软件的结合。
本领域技术人员会理解，本申请不限于这里所述的特定实施例，对本领域技术人员来说能够进行各种变化、重新调整和替代而不会脱离本申请的保护范围。因此，虽然通过以上实施例对本申请进行了说明，但是本申请不仅仅限于以上实施例，在不脱离本发明构思的情况下，还可以包括更多其他等效实施例，而本申请的范围由所附的权利要求范围决定。
以下是本申请实施例提供的基于多传感器的位姿信息冗余校验方法的实施例，该方法与上述各实施例的手术平台定位系统属于同一个发明构思，在基于多传感器的位姿信息冗余校验方法的实施例中未描述的细节内容，可以参考上述手术平台定位系统的实施例。该方法可以保证位姿获取模块所计算得到的位姿信息的可靠性。
图9为本申请实施例的硬件要求示意图，该实施例中位姿获取模块130中包含两个惯性传感器单元。图9中位姿获取模块表示为HRD，两个惯性传感器单元分别表示为IMU1和IMU2，各自安装在HRD内。REF1和REF2分别代表IMU1和IMU2所测量位姿信息的参考坐标系。图9中坐标系方向X、Y及Z分别代表各对象的位姿朝向，坐标原点位置代表各对象空间位置；两个惯性传感器单元分别固定安装于位姿获取模块内，其安装位置及朝向不做要求，但其各自相对于位姿获取模块的位置及朝向已知且保持固定。
T代表齐次变换矩阵，包含旋转信息及平移信息，(T下标 上标)代表下标对象在上标对象为参考下的相对位姿；
(THRD)1代表由IMU1所获得的HRD的位姿信息，(THRD)2代表由IMU2所获得的HRD的位姿信息；
ΔT代表由IMU1所获得的HRD的位姿与IMU2所获得的HRD的位姿之间的误差；
R代表方向旋转矩阵，(R下标 上标)代表下标对象在上标对象为参考下的姿态信息(旋转朝向)；
ΔR代表由IMU1所获得的HRD的姿态朝向与IMU2所获得的HRD的姿态朝向之间的误差旋转矩阵；
P代表位置向量，(P下标 上标)代表下标对象在上标对象为参考下的相对位置；
ΔP代表由IMU1所获得的HRD的位置与IMU2所获得的HRD的位置之间的误差位置向量；
容易得到：
通过将误差旋转矩阵ΔR转换为轴角表示很容易得到朝向误差的夹角，通过设定合适的角度误差阈值，当朝向误差夹角超过角度阈值时，则判定当前位姿获取模块所获取的位姿信息不准确。
通过取误差位置向量ΔP的模容易得到位置误差，通过设定合适的位置误差阈值，当位置误差夹角超过阈值时，则判定当前位姿获取模块所获取的位姿信息不准确。
为IMU1在HRD下的安装朝向，为IMU2在HRD下的安装朝向，H为惯性传感器配置矩阵，其定义为：
记mact＝[mact1，mact2，mact3，mact4，mact5，mact6]T为IMU1和IMU2中每个角速度传感器的原始测量值；
记mest＝[mest1，mest2，mest3，mest4，mest5，mest6]T为IMU1和IMU2中每个角速度传感器的估计值；
记merr＝[merr1，merr2，merr3，merr4，merr5，merr6]T为IMU1和IMU2中每个角速度传感器的误差值；
记v＝[v1，v2，v3，v4，v5，v6]T为IMU1和IMU2中每个角速度传感器的噪声和零点偏差；
记ωest＝[ωx，ωy，ωz]T为HRD坐标轴每个方向上的角速度估计值；
HRD的角速度估计值ωest可以由测量值计算得到：
ωest＝pinv(H)×(mact-v)
通过ωest反过来计算传感器估计值：mest＝H×ωest+v
根据实际值mact与估计值mest得到误差值：
merr＝||mest-mact||
通过设定合适的误差阈值，当朝向误差值超过误差阈值时，则可以确定当前位姿获取模块所获取的位姿信息不准确或其中角速度传感器存在故障。

Claims (14)

  1. 一种手术平台定位系统，包括：定位模块(110)、至少一个手术平台(120)和至少一个位姿获取模块(130)；其中，
    所述至少一个位姿获取模块(130)设置为安装在被测对象上，获取所述被测对象的初始位姿信息，并将所述初始位姿信息发送至所述定位模块(110)；其中，所述被测对象包括至少一个手术平台(120)，或者，所述被测对象包括定位模块(110)和至少一个手术平台(120)；
    所述定位模块(110)设置为接收所述至少一个位姿获取模块(130)发送的所述初始位姿信息，并基于所述初始位姿信息确定每个被测对象在同一空间内的目标位姿信息。
  2. 根据权利要求1所述的系统，其中，所述位姿获取模块(130)包括惯性传感器单元、处理单元和通信单元；其中，
    所述惯性传感器单元包括线加速度传感器、角速度传感器、磁场传感器和温度传感器，设置为获取所述被测对象的初始测量信息；
    所述处理单元，设置为基于所述初始测量信息确定所述被测对象的初始位姿信息；
    所述通信单元，设置为将所述初始位姿信息发送至所述定位模块(110)。
  3. 根据权利要求1所述的系统，其中，在所述被测对象包括至少一个手术平台(120)的情况下，
    所述位姿获取模块(130)设置为依次安装在每个手术平台(120)上，并获取每个手术平台(120)的初始位姿信息；
    所述定位模块(110)设置为基于每个初始位姿信息确定每个手术平台(120)在同一空间内的目标位姿信息。
  4. 根据权利要求1所述的系统，其中，在所述被测对象包括定位模块(110)和至少一个手术平台(120)，以及所述定位模块(110)包括定位单元和第一基准单元的情况下，
    所述位姿获取模块(130)设置为依次安装在所述第一基准单元和每个手术平台(120)上，并获取所述第一基准单元的初始位姿信息和每个手术平台(120)的初始位姿信息；
    所述定位单元设置为基于所述第一基准单元的初始位姿信息和每个手术平台(120)的初始位姿信息确定每个手术平台(120)在所述第一基准单元为参考坐标系下的目标位姿信息。
  5. 根据权利要求1-4任一所述的系统，其中，所述至少一个位姿获取模块 (130)与所述被测对象的安装关系包括可拆卸安装和固定安装。
  6. 根据权利要求5所述的系统，其中，在所述至少一个位姿获取模块(130)与所述被测对象的安装关系为可拆卸安装的情况下，所述至少一个位姿获取模块(130)依次可拆卸地安装在所述被测对象上；其中，
    在所述被测对象包括至少一个手术平台(120)时，基准对象包括任一手术平台(120)，设置为确定基准坐标点；
    在所述被测对象包括至少一个手术平台(120)和定位模块(110)时，基准对象包括定位模块(110)，设置为确定基准坐标点。
  7. 根据权利要求5所述的系统，其中，在所述被测对象还包括第二基准单元，所述至少一个位姿获取模块(130)与所述被测对象的安装关系为固定安装的情况下；
    所述至少一个位姿获取模块(130)设置为分别安装在所述第二基准单元和各所述手术平台(120)上，并获取所述第二基准单元的初始位姿信息和每个手术平台(120)的初始位姿信息；
    所述定位单元设置为基于所述第二基准单元的初始位姿信息和每个手术平台(120)的初始位姿信息确定所述第二基准单元和每个手术平台(120)在同一空间内的目标位姿信息。
  8. 根据权利要求5所述的系统，其中，在所述至少一个位姿获取模块(130)与所述被测对象的安装关系为可拆卸安装时，所述被测对象设置有安装机构(140)；其中，所述安装机构(140)包括导向槽和锁定机构，
    所述导向槽设置为承载所述位姿获取模块(130)；
    所述锁定机构设置为将所述位姿获取模块(130)固定于所述导向槽中。
  9. 根据权利要求1所述的系统，其中，每个手术平台(120)包括平台主体(1201)、平台机械臂(1202)和手术器械(1203)；
    所述位姿获取模块(130)设置为安装在所述平台主体(1201)、所述平台机械臂(1202)和所述手术器械(1203)中任一安装位置。
  10. 一种位姿信息确定方法，应用于权利要求1-9任一所述的手术平台定位系统，包括：
    获取所述被测对象的实时测量值；其中，所述实时测量值包括实时线加速度测量值、实时角速度测量值和实时磁场测量值；
    响应于预设时间内所述实时磁场测量值的变化量值在预设磁场阈值范围内，基于所述实时线加速度测量值、所述实时角速度测量值和所述实时磁场测 量值确定所述被测对象的实时位姿信息。
  11. 根据权利要求10所述的方法，其中，所述实时位姿信息包括实时方向角度和实时空间位置；
    所述基于所述实时线加速度测量值、所述实时角速度测量值和所述实时磁场测量值确定所述被测对象的实时位姿信息，包括：
    对所述实时线加速度测量值和所述实时角速度测量值进行测量值处理，分别得到所述被测对象的实时重力加速度方向和实时角速度方向；
    对所述实时磁场测量值、所述实时重力加速度方向和所述实时角速度方向进行方向融合处理，生成所述被测对象的实时方向角度；
    对所述实时线加速度测量值和所述实时角速度测量值进行加速度提取，生成所述被测对象的实时空间位置。
  12. 一种电子设备，包括：
    一个或多个处理器；
    存储装置，设置为存储一个或多个程序，
    当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如权利要求10-11中任一所述的位姿信息确定方法。
  13. 一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现如权利要求10-11中任一所述的位姿信息确定方法。
  14. 一种基于多传感器的位姿信息冗余校验的方法，应用于权利要求1-9任一所述的手术平台定位系统，其中，所述位姿获取模块(130)中包含至少两个惯性传感器单元；所述方法包括：
    基于多个惯性传感器单元所反馈的测量信号以及通过每个惯性传感器单元所间接得到的位姿信息，计算不同惯性传感器单元的测量信号误差及位姿误差；
    通过设置误差阈值，并将测量信号误差、位姿误差分别与所述误差阈值比较，确定当前通过所述位姿获取模块(130)所反馈的位姿信息是否可靠。
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