CN-121971174-A - Surgical robot navigation system, method and medium

CN121971174ACN 121971174 ACN121971174 ACN 121971174ACN-121971174-A

Abstract

The application relates to a surgical robot navigation system, a method and a medium. The surgical robot comprises a patient surgical trolley and a mechanical arm, wherein the axes of all movable joints of the mechanical arm are intersected at a mechanical fixed point, the patient surgical trolley comprises an adjusting component for adjusting the position of the surgical robot, the system comprises a fixing device and at least two groups of light emitters, the fixing device is arranged at the installation position of the surgical robot, the ray paths of light emitted by the at least two groups of light emitters penetrate through the mechanical fixed point without being blocked, the at least two groups of light emitters are fixed to the surgical robot through the fixing device and are configured to project light rays with target patterns, and the position of the surgical robot is adjusted through the adjusting component until the light rays emitted by the at least two groups of light emitters intersect at the mechanical fixed point and form a closed projection pattern, and the mechanical fixed point coincides with the target surgical position. By adopting the method, the navigation accuracy can be improved.

Inventors

Request for anonymity
Request for anonymity
Request for anonymity
Request for anonymity

Assignees

上海微创医疗机器人（集团）股份有限公司

Dates

Publication Date: 20260505
Application Date: 20260408

Claims (14)

1. The surgical robot navigation system is characterized by comprising a patient surgical trolley and a mechanical arm, wherein the axes of all movable joints of the mechanical arm are intersected at a mechanical fixed point, and the patient surgical trolley comprises an adjusting component for adjusting the position of the surgical robot; the fixing device is arranged at the installation position of the surgical robot, so that the ray paths of the light emitted by the at least two groups of light emitters pass through the mechanical fixed point without being blocked; The at least two groups of light emitters are fixed on the surgical robot through the fixing device, the at least two groups of light emitters are configured to project light rays with target patterns, and when the light rays emitted by the at least two groups of light emitters do not intersect at the mechanical fixed point and form a closed projection pattern, or the mechanical fixed point is not coincident with the target surgical position, the position of the surgical robot is adjusted through the adjusting component until the light rays emitted by the at least two groups of light emitters intersect at the mechanical fixed point and form the closed projection pattern, and the mechanical fixed point is coincident with the target surgical position.
2. The system of claim 1, wherein the robotic arm comprises a suspension, a first arcuate arm, and a second arcuate arm, the securing device being secured to at least two of the suspension, the first arcuate arm, and the second arcuate arm, the securing device being mounted in a bilaterally symmetric portion or an ipsilaterally asymmetric distribution of the suspension, the first arcuate arm, or the second arcuate arm.
3. The system of claim 1, wherein the fixture comprises a fixed base and a reflector, the fixed base is fixed to the mechanical arm, the reflector is mounted on a side of the fixed base away from the mechanical arm, the light emitter is fixed on a side of the fixed base close to the mechanical arm, and light rays emitted by the light emitter pass through the mechanical stationary point after being reflected by the reflector.
4. The system of claim 1, wherein the target pattern is a non-closed pattern, and light rays emitted by the two groups of light emitters intersect at the mechanical dead point and form a closed projected pattern, and the projected pattern corresponding to the light rays exhibits an asymmetric distribution above and below the mechanical dead point.
5. The system of any one of claims 1 to 4, wherein the surgical robot is moved until the projection points of the light rays projected by the at least two groups of light emitters are located on the body surface of the patient, in the case where the projection points of the light rays projected by the at least two groups of light emitters are not located on the body surface of the patient.
6. The system according to any one of claims 1 to 4, wherein the adjustment means includes a top tray rotation joint and a top tray expansion joint for adjusting a horizontal direction; And under the condition that the distance between the intersection point of the light rays projected by the at least two groups of light emitters and the target operation position in the horizontal direction is larger than a first distance threshold, adjusting the top disc rotary joint and the top disc telescopic joint until the distance between the intersection point of the light rays projected by the at least two groups of light emitters and the target operation position in the horizontal direction is smaller than or equal to the first distance threshold.
7. The system of claim 1, wherein the adjustment means comprises a top tray lifting column joint for adjusting the vertical direction; And determining a projection image type based on the projection patterns of the light rays projected by the at least two groups of light emitters on the body surface of the patient, and adjusting the top plate lifting column joint based on the projection image type until the closed projection patterns formed by the light rays projected by the at least two groups of light emitters coincide with the target operation position on the body surface of the patient.
8. The system of claim 7, further comprising an image system, wherein the image system comprises an image acquisition device and an image processing device; the image acquisition device is arranged in the mechanical arm and is used for acquiring projection images of light rays of the at least two groups of light emitters on the body surface of a patient; The image processing device is used for processing the projection image to obtain a projection image type, generating a control instruction of the top disk lifting column joint based on the projection image type, and sending the control instruction to the top disk lifting column joint so as to adjust the top disk lifting column joint until the closed projection graph formed by light rays projected by at least two groups of light emitters coincides with the target operation position of the body surface of the patient.
9. The system of claim 8, wherein the image acquisition device is a monocular or binocular camera; When the image acquisition device is a monocular camera, the image processing device is used for determining projection image characteristics according to the projection images acquired by the image acquisition device, determining the relative positions of a closed projection graph and the mechanical fixed point based on the projection image characteristics, and generating a control instruction of the top disc lifting upright joint based on the relative positions; And under the condition that the image acquisition device is a binocular camera, the image processing device is used for determining projection image characteristics according to the projection images acquired by the image acquisition device, determining the distance between the projection images and the binocular camera based on the projection image characteristics, and generating a control instruction of the top disc lifting stand column joint according to the positions of the binocular camera and the mechanical fixed point in a coordinate system corresponding to the surgical robot and the distance between the projection images and the binocular camera.
10. The system of claim 7, wherein the system further comprises: the system comprises an interaction interface, a control module and a control module, wherein the interaction interface is used for carrying out mode selection, the modes comprise a manual mode and an automatic mode, the manual mode is used for adjusting the top disc lifting column joint in a manual mode, and the automatic mode is used for adjusting the top disc lifting column joint in a control instruction.
11. A surgical robot navigation method based on the surgical robot navigation system of any one of claims 1 to 10, wherein the surgical robot comprises a patient surgical trolley and a mechanical arm, the axes of the moving joints of the mechanical arm intersecting at a mechanical stationary point, the patient surgical trolley comprising an adjustment member for adjusting the position of the surgical robot, the method comprising: Moving the surgical robot until the projection points of the light rays projected by the at least two groups of light emitters are positioned on the body surface of the patient under the condition that the projection points of the light rays projected by the at least two groups of light emitters are not positioned on the body surface of the patient; Under the condition that the distance between the intersection point of the light rays projected by the at least two groups of light emitters and the target operation position in the horizontal direction is larger than a first distance threshold, adjusting a top disc rotary joint and a top disc telescopic joint in the operation robot until the distance between the intersection point of the light rays projected by the at least two groups of light emitters and the target operation position in the horizontal direction is smaller than or equal to the first distance threshold; and determining a projection image type based on the projection patterns of the light rays projected by the at least two groups of light emitters on the body surface of the patient, and adjusting the top tray lifting column joint of the surgical robot based on the projection image type until the formed closed projection pattern of the light rays projected by the at least two groups of light emitters coincides with the target surgical position on the body surface of the patient.
12. The method of claim 11, wherein the method further comprises: collecting projection images of light rays of the at least two groups of light emitters on the body surface of a patient through an image collecting device; the method for determining the type of the projection image based on the projection graph of the light rays projected by the at least two groups of light emitters on the body surface of the patient, and adjusting the top tray lifting column joint of the surgical robot based on the type of the projection image until the closed projection graph formed by the light rays projected by the at least two groups of light emitters coincides with the target surgical position on the body surface of the patient comprises the following steps: And processing the projection image to obtain a projection image type, generating a control instruction of the top disk lifting column joint based on the projection image type, and sending the control instruction to the top disk lifting column joint so as to adjust the top disk lifting column joint until the closed projection graph formed by light rays projected by at least two groups of light emitters coincides with the target operation position of the body surface of the patient.
13. The method of claim 12, wherein processing the projected image to obtain a projected image type, and generating the control command for the top tray lifting column joint based on the projected image type, comprises: under the condition that the image acquisition device is a monocular camera, determining projection image characteristics according to projection images acquired by the image acquisition device, determining the relative position of a closed projection graph and the mechanical fixed point based on the projection image characteristics, and generating a control instruction of the top disc lifting stand column joint based on the relative position; And under the condition that the image acquisition device is a binocular camera, determining the characteristics of a projection image according to the projection image acquired by the image acquisition device, determining the distance between the projection image and the binocular camera based on the characteristics of the projection image, and generating a control instruction of the lifting stand column joint of the top disc according to the positions of the binocular camera and the mechanical fixed point in a coordinate system corresponding to the surgical robot and the distance between the projection image and the binocular camera.
14. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 11 to 13.

Description

Surgical robot navigation system, method and medium Technical Field The application relates to the technical field of intelligent medical treatment, in particular to a surgical robot navigation system, a method and a medium. Background In minimally invasive surgery involving a surgical robot, the surgical platform of the patient is usually required to be adjusted and positioned before surgery, namely after a certain position on the body surface of the patient is marked by a puncture access, medical staff continuously and repeatedly adjusts the position and the posture of the surgical platform of the patient according to the marked position so as to obtain the relative position and the posture which are judged according to experience, further the puncture outfit is abutted, and the connection between the surgical robot and the patient is realized. The mode of adjusting the patient operation platform by relying on fuzzy position sensing is complex in operation, low in positioning accuracy and wasteful in preoperative preparation time. Disclosure of Invention In view of the foregoing, it is desirable to provide a surgical robot navigation system, method, and medium that can improve navigation accuracy. In a first aspect, the present application also provides a surgical robot navigation system, the surgical robot comprising a patient surgical trolley and a robotic arm, the axes of the mobile joints of the robotic arm intersecting at a mechanical stationary point, the patient surgical trolley comprising an adjustment component for adjusting the position of the surgical robot; the fixing device is arranged at the installation position of the surgical robot, so that the ray paths of the light emitted by the at least two groups of light emitters pass through the mechanical fixed point without being blocked; The at least two groups of light emitters are fixed on the surgical robot through the fixing device, the at least two groups of light emitters are configured to project light rays with target patterns, and when the light rays emitted by the at least two groups of light emitters do not intersect at the mechanical fixed point and form a closed projection pattern, or the mechanical fixed point is not coincident with the target surgical position, the position of the surgical robot is adjusted through the adjusting component until the light rays emitted by the at least two groups of light emitters intersect at the mechanical fixed point and form the closed projection pattern, and the mechanical fixed point is coincident with the target surgical position. In one embodiment, the mechanical arm comprises a suspension, a first arc-shaped arm and a second arc-shaped arm, the fixing device is fixed at least two positions of the suspension, the first arc-shaped arm and the second arc-shaped arm, and the installation positions of the fixing device are distributed asymmetrically on two symmetrical parts or the same side of the suspension, the first arc-shaped arm or the second arc-shaped arm. In one embodiment, the fixing device comprises a fixing seat and a reflecting mirror, the fixing seat is fixed on the mechanical arm, the reflecting mirror is installed on one side, far away from the mechanical arm, of the fixing seat, the light emitter is fixed on one side, close to the mechanical arm, of the fixing seat, and light rays emitted by the light emitter pass through the mechanical fixed point after being reflected by the reflecting mirror. In one embodiment, the target pattern is a non-closed pattern, light rays emitted by the two groups of light emitters intersect at the mechanical motionless point and form a closed projection pattern, and the projection patterns corresponding to the light rays are asymmetrically distributed above and below the mechanical motionless point. In one embodiment, in case the projection points of the light rays projected by the at least two groups of light emitters are not located on the body surface of the patient, the surgical robot is moved until the projection points of the light rays projected by the at least two groups of light emitters are located on the body surface of the patient. In one embodiment, the adjusting component comprises a top disk rotating joint and a top disk telescopic joint for adjusting the horizontal direction; And under the condition that the distance between the intersection point of the light rays projected by the at least two groups of light emitters and the target operation position in the horizontal direction is larger than a first distance threshold, adjusting the top disc rotary joint and the top disc telescopic joint until the distance between the intersection point of the light rays projected by the at least two groups of light emitters and the target operation position in the horizontal direction is smaller than or equal to the first distance threshold. In one embodiment, the adjusting component comprises a top disk lifting column joint for adjusting the vert