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EP-4742157-A1 - SURGICAL CART POSITIONING METHOD, APPARATUS AND SYSTEM, AND STORAGE MEDIUM

EP4742157A1EP 4742157 A1EP4742157 A1EP 4742157A1EP-4742157-A1

Abstract

The present application discloses a surgical cart positioning method, apparatus and system, and a storage medium. The method comprises: acquiring a first field-of-view image acquired by an image acquisition apparatus and in which a first surgical cart corresponds to a registration apparatus, and on the basis of the first field-of-view image, determining a first relative pose of the first surgical cart relative to the registration apparatus (S210); acquiring a second field-of-view image acquired by the image acquisition apparatus and in which a second surgical cart corresponds to the registration apparatus, and on the basis of the second field-of-view image, determining a second relative pose of the registration apparatus relative to the second surgical cart (S220); and on the basis of the first relative pose and the second relative pose, determining a relative positioning pose of the first surgical cart relative to the second surgical cart (S230).

Inventors

  • CHEN, Zike
  • MAO, Ying

Assignees

  • Ronovo (Shanghai) Medical Science and Technology Ltd.

Dates

Publication Date
20260513
Application Date
20240805

Claims (11)

  1. A positioning method for surgical cart, comprising: obtaining a first field-of-view (FOV) image, correlated with a first surgical cart and a registration apparatus and collected by an image collection apparatus, and determining a first relative pose of the first surgical cart relative to the registration apparatus based on the first FOV image; obtaining a second FOV image, correlated with a second surgical cart and the registration apparatus and collected by the image collection apparatus, and determining a second relative pose of the registration apparatus relative to the second surgical cart based on the second FOV image; and determining a relative positioning pose of the first surgical cart relative to the second surgical cart based on the first relative pose and the second relative pose.
  2. The method according to claim 1, wherein determining the first relative pose of the first surgical cart relative to the registration apparatus based on the first FOV image comprises: obtaining object pixel data of a target object in the first FOV image; and determining the first relative pose of the first surgical cart relative to the registration apparatus by using an efficient perspective-n-point camera pose estimation algorithm, based on the object pixel data, and a camera intrinsic matrix and a distortion matrix of the image collection apparatus, wherein the target object is the registration apparatus or an identification pattern disposed on the registration apparatus.
  3. The method according to claim 1, wherein a pose collecting module is arranged on the registration apparatus, and determining the relative positioning pose of the first surgical cart relative to the second surgical cart based on the first relative pose and the second relative pose comprises: obtaining a first registration pose corresponding to the first FOV image and a second registration pose corresponding to the second FOV image, which are collected by the pose collecting module; determining a registration relative pose based on the first registration pose and the second registration pose; and determining the relative positioning pose of the first surgical cart relative to the second surgical cart based on the first relative pose, the second relative pose, and the registration relative pose.
  4. The method according to claim 3, wherein determining the registration relative pose based on the first registration pose and the second registration pose comprises: obtaining a change time interval corresponding to the first registration pose and the second registration pose, and a motion angular velocity and a motion acceleration; obtaining an angular displacement of the registration relative pose by performing integration on the motion angular velocity over the change time interval; and obtaining a translational displacement of the registration relative pose by performing double integration on the motion acceleration over the change time interval.
  5. The method according to claim 1, wherein the registration apparatus comprises two registration devices with different registration poses, and determining the relative positioning pose of the first surgical cart relative to the second surgical cart based on the first relative pose and the second relative pose comprises: obtaining a registration relative pose of registration poses respectively corresponding to the two registration devices in the registration apparatus; and determining the relative positioning pose of the first surgical cart relative to the second surgical cart based on the first relative pose, the second relative pose, and the registration relative pose.
  6. A positioning apparatus for surgical cart, comprising: a first relative pose determining module, configured to obtain a first field-of-view (FOV) image correlated with a first surgical cart and a registration apparatus and collected by an image collection apparatus, and determine a first relative pose of the first surgical cart relative to the registration apparatus based on the first FOV image; a second relative pose determining module, configured to obtain a second FOV image correlated with a second surgical cart and the registration apparatus and collected by the image collection apparatus, and determine a second relative pose of the registration apparatus relative to the second surgical cart based on the second FOV image; and a relative positioning pose determining module, configured to determine a relative positioning pose of the first surgical cart relative to the second surgical cart based on the first relative pose and the second relative pose.
  7. A positioning system for surgical cart, comprising a first surgical cart, a second surgical cart, an image collection apparatus, a registration apparatus, and a control device; wherein the image collection apparatus is configured to collect a first FOV image correlated with the first surgical cart and the registration apparatus, and collect a second FOV image correlated with the second surgical cart and the registration apparatus; and the control device comprises at least one processor, and a memory communicating with the at least one processor; wherein a computer program executable by the at least one processor is stored in the memory; and the computer program, when executed by the at least one processor, causes the at least one processor to execute the positioning method for surgical cart according to any one of claims 1 to 5.
  8. The positioning system for surgical cart according to claim 7, wherein: the registration apparatus comprises a registration device; and at least one identification pattern is disposed in the registration apparatus, or the registration apparatus has a display function for at least one identification pattern; and the image collection apparatus comprises two image collection devices, and the two image collection devices are arranged on the first surgical cart and the second surgical cart respectively, and the first FOV image and the second FOV image each contain the identification pattern.
  9. The positioning system for surgical cart according to claim 7, wherein the registration apparatus comprises a registration device, the number of image collection devices in the image collection apparatus is one, the image collection device is arranged in the registration apparatus, an identification pattern is disposed on each of the first surgical cart and the second surgical cart, the first FOV image is an FOV image containing the identification pattern on the first surgical cart, and the second FOV image is an FOV image containing the identification pattern on the second surgical cart.
  10. The positioning system for surgical cart according to claim 7, wherein the registration apparatus comprises two registration devices with different registration poses, the number of image collection devices in the image collection apparatus is two; one image collection device or one identification pattern is disposed on each of the first surgical cart and the second surgical cart.
  11. A computer-readable storage medium, wherein computer instructions are stored on the computer-readable storage medium, and the computer instructions, when executed by a processor, are configured to execute the positioning method for surgical cart according to any one of claims 1 to 5.

Description

The present application claims priority to Chinese patent application No. 202311006826.4, filed with China National Intellectual Property Administration on August 10, 2023, which is hereby incorporated by reference in its entirety. TECHNICAL FIELD The present application relates to the technical field of medical apparatus, exemplarily, to a positioning method, a positioning apparatus and a positioning system for surgical cart, and a storage medium. BACKGROUND With improvements in medical standards, minimally invasive surgery has been widely applied gradually. To ensure the feasibility and safety of the minimally invasive surgery, surgical robot systems are increasingly used in the minimally invasive surgery. In scenarios of minimally invasive surgery, in a split multi-column surgical robot system, multiple surgical carts need to be arranged around an operating table. Therefore, it is necessary to accurately position the relative pose of each two surgical carts. Positioning devices have high requirements for environment and installation. Positioning methods in related art typically involve arranging signal transmitters and signal receivers on the surgical carts respectively. However, multiple sensor devices are prone to generating interfering information, leading to inaccurate positioning of the surgical carts. Moreover, the positioning methods in the related art are not able to adapt to scenarios of various operating rooms. SUMMARY Embodiments of the present application provide a positioning method, a positioning apparatus and a positioning system for surgical cart, and a storage medium, to avoid data interference between multiple sensor devices in positioning methods in the related art and improve the positioning accuracy of surgical carts. A positioning method for surgical cart is provided in an embodiment of the present application, and the method includes: obtaining a first field-of-view (FOV) image correlated with a first surgical cart and a registration apparatus and collected by an image collection apparatus, and determining a first relative pose of the first surgical cart relative to the registration apparatus based on the first FOV image;obtaining a second FOV image correlated with a second surgical cart and the registration apparatus and collected by the image collection apparatus, and determining a second relative pose of the registration apparatus relative to the second surgical cart based on the second FOV image; anddetermining a relative positioning pose of the first surgical cart relative to the second surgical cart based on the first relative pose and the second relative pose. A positioning apparatus for surgical cart is provided in another embodiment of the present application, and the apparatus includes: a first relative pose determining module, configured to obtain a first field-of-view (FOV) image correlated with a first surgical cart and a registration apparatus and collected by an image collection apparatus, and determine a first relative pose of the first surgical cart relative to the registration apparatus based on the first FOV image;a second relative pose determining module, configured to obtain a second FOV image correlated with a second surgical cart and the registration apparatus and collected by the image collection apparatus, and determine a second relative pose of the registration apparatus relative to the second surgical cart based on the second FOV image; anda relative positioning pose determining module, configured to determine a relative positioning pose of the first surgical cart relative to the second surgical cart based on the first relative pose and the second relative pose. A positioning system for surgical cart is provided in still another embodiment of the present application, and the positioning system for surgical cart includes a first surgical cart, a second surgical cart, an image collection apparatus, a registration apparatus, and a control device. The image collection apparatus is configured to a first FOV image correlated with the first surgical cart and the registration apparatus, and collect a second FOV image correlated with the second surgical cart and the registration apparatus. The control device includes at least one processor, and a memory communicating with the at least one processor. A computer program executable by the at least one processor is stored in the memory. The computer program, when executed by the at least one processor, causes the at least one processor to execute the positioning method for surgical cart according to any embodiment of the present application. A computer-readable storage medium is provided in an embodiment of the present application. Computer instructions are stored on the computer-readable storage medium, and the computer instructions, when executed by a processor, are configured to execute the positioning method for surgical cart according to any embodiment of the present application. BRIEF DESCRIPTION OF THE DRAWINGS