CN113171173A - VR (virtual reality) preoperative planning method and system for surgical robot - Google Patents
VR (virtual reality) preoperative planning method and system for surgical robot Download PDFInfo
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- CN113171173A CN113171173A CN202110469212.4A CN202110469212A CN113171173A CN 113171173 A CN113171173 A CN 113171173A CN 202110469212 A CN202110469212 A CN 202110469212A CN 113171173 A CN113171173 A CN 113171173A
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- 230000003287 optical effect Effects 0.000 claims abstract description 51
- 230000000007 visual effect Effects 0.000 claims abstract description 18
- 238000010276 construction Methods 0.000 claims description 14
- 238000009877 rendering Methods 0.000 claims description 10
- 230000009286 beneficial effect Effects 0.000 abstract description 3
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- 238000001356 surgical procedure Methods 0.000 description 3
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- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- 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
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- 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
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- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
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- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
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- 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
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Abstract
The invention provides a VR preoperative planning method and system for a surgical robot. The method comprises the following steps: step S1, constructing a virtual reality scene; step S2, constructing a virtual beam cone according to the visual field range of the optical positioner in the surgical robot in the virtual reality scene; and step S3, generating a planning path according to the contact condition of the object in the virtual reality scene and the light beam cone. The technical scheme of the invention has the beneficial effects that: the virtual beam cone is constructed according to the visual field range of the optical positioner, and the planned path is generated according to the contact condition of an object and the virtual beam cone so as to indicate the moving path of an operator and a surgical instrument in the surgical process, so that the operator and the surgical instrument do not interfere with the infrared beam between the optical positioner and the photosensitive ball any more, the optical positioning system can work normally, and the positioning result of the optical positioning system is more accurate.
Description
Technical Field
The invention relates to the field of surgical robots, in particular to a VR preoperative planning method and system for a surgical robot.
Background
With the large-scale popularization and application of the VR (Virtual Reality Technology), the fusion degree of VR and the medical industry is higher and higher, which brings great convenience to doctors and patients. The surgical robot has an optical navigation system, an optical writing positioning system and a mechanical arm system, and not only has surgical instruments with multiple degrees of freedom, so that the surgery is more flexible, but also can provide a doctor with a three-dimensional image amplified by the doctor, and the surgery is more delicate.
However, in the operation process of the surgical robot, the optical positioning system needs infrared beams emitted by the optical positioner to irradiate the pelvic reference frame and the mechanical arm reference frame and infrared beams between the photosensitive balls arranged on the pelvic reference frame and the mechanical arm reference frame at any time are shielded, so that the normal work of the optical positioning system is influenced, the real-time position calculation is influenced, the system precision and the operation effect are seriously influenced, and serious consequences can be generated.
However, in the actual operation process, the operation operator and the operation instrument move correspondingly along with the progress of the operation, so that the infrared beam between the optical positioner and the photosensitive ball is interfered, the positioning result is inaccurate, and the operation operator continues the operation according to the inaccurate positioning result, which may possibly affect the operation effect and cause the life risk of the patient.
Disclosure of Invention
Aiming at the problems in the prior art, a VR preoperative planning method and a VR preoperative planning system for a surgical robot are provided.
The VR preoperative planning method for the surgical robot is applied to the surgical robot and comprises the following steps:
step S1, constructing a virtual reality scene;
step S2, constructing a virtual beam cone according to the visual field range of the optical positioner in the surgical robot in the virtual reality scene;
and step S3, generating a planning path according to the contact condition of the object in the virtual reality scene and the light beam cone.
Preferably, the step S1 includes:
step S11, constructing a virtual reality scene in the three-dimensional virtual environment;
step S12, acquiring real-time state data of the object in the surgical scene, and converting the real-time state data into rendering data;
and step S13, rendering the virtual reality scene in real time according to the rendering data.
Preferably, the step S2 includes:
step S21, measuring and calculating the visual field range of the light beam emitted by the optical positioner;
and step S22, performing three-dimensional modeling according to the measured visual field range to generate the virtual beam cone.
Preferably, the step S3 includes:
step S31, predefining a first movable range of the object and a second movable range of the virtual beam cone;
step S32, acquiring the contact condition between the object and the light beam cone in the operation process;
step S33, generating the planned path according to the contact condition, the first moving range, and the second moving range.
Preferably, in step S31, the first movable range is a movement range and a rotation range of the object in six degrees of freedom.
Preferably, the step S31 includes:
step S311, obtaining the component motion range of the component of the optical positioner;
step S312, defining the second movable range of the virtual beam cone according to the movement range.
Preferably, the component movement range is a rotational degree of freedom and the rotational angle of the component.
Preferably, the second movable range of the virtual beam cone is an angle of rotation of the virtual beam cone around the optical positioner fixed axis.
Preferably, the method further comprises the following steps:
and controlling the display and the hiding of the virtual light beam cone in the operation process.
A surgical robot VR preoperative planning system for a surgical robot, comprising:
the first construction module is used for constructing a virtual reality scene;
the second construction module is connected with the first construction module and used for constructing a virtual beam cone according to the visual field range of an optical positioner in the surgical robot in the virtual reality scene;
and the planning module is connected with the second construction module and used for generating a planned path according to the contact condition of the object in the virtual reality scene and the virtual light beam cone.
The technical scheme of the invention has the beneficial effects that: a virtual beam cone is constructed in a virtual reality scene according to the visual field range of an optical positioner, a planned path is generated according to the contact condition of an object in the virtual reality scene and the virtual beam cone, the movement path of an operator and a surgical instrument in the operation process is indicated, the infrared beam between the optical positioner and a photosensitive ball is not interfered any more, the optical positioning system always works normally, and the positioning result of the optical positioning system is more accurate.
Drawings
Fig. 1 is a schematic flow chart of a VR preoperative planning method for a surgical robot in a preferred embodiment of the invention;
FIG. 2 is a schematic flow chart of step S1 according to the preferred embodiment of the present invention;
FIG. 3 is a schematic flow chart of step S2 according to the preferred embodiment of the present invention;
FIG. 4 is a schematic flow chart of step S3 according to the preferred embodiment of the present invention;
FIG. 5 is a schematic flow chart of step S31 according to the preferred embodiment of the present invention;
fig. 6 is a schematic structural diagram of a VR preoperative planning system of a surgical robot according to a preferred embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
The invention provides a VR preoperative planning method and system for a surgical robot. The preoperative planning method for the VR of the surgical robot is applied to the surgical robot, and as shown in fig. 1, the preoperative planning method comprises the following steps:
step S1, constructing a virtual reality scene;
step S2, constructing a virtual beam cone according to the visual field range of the optical positioner in the surgical robot in the virtual reality scene;
and step S3, generating a planning path according to the contact condition of the object in the virtual reality scene and the virtual light beam cone.
Specifically, considering the problem that the movement of an operation operator obstructs an infrared beam between an optical positioner and a photosensitive ball in the operation process, which affects the normal operation of an optical positioning system, thereby causing inaccurate positioning and further seriously interfering with the accuracy and the operation effect of the operation, the invention provides a VR preoperative planning method for an operation robot, which constructs a virtual reality scene based on a virtual reality technology through steps S1 to S4, constructs a corresponding virtual beam cone in the virtual reality scene according to the visual field range of the optical positioner, and further generates a planned path of the operation based on the contact condition between the moving path of an object such as the operator, an operation instrument and the like and the virtual beam cone in the virtual reality scene in the operation process, so as to guide the moving path of the operator and the operation instrument in the operation process, the infrared light beam between the optical positioner and the photosensitive ball is not interfered by the positioning device, so that the optical positioning system always works normally, and the positioning result is more accurate.
It should be noted that, considering that the infrared transceiving between the optical positioner and the photosensitive ball is not interfered, the precise positioning can be realized, therefore, all surgical instruments except the optical positioner and the photosensitive ball and surgical operators are regarded as "objects", and the interference situation of the objects to the infrared transceiving between the optical positioner and the photosensitive ball can be obtained by acquiring the interference situation of the objects and the virtual light beam cone.
In a preferred embodiment of the present invention, as shown in fig. 2, step S1 includes:
step S11, constructing a virtual reality scene in the three-dimensional virtual environment;
step S12, acquiring real-time state data of objects in the surgical scene, and converting the real-time state data into rendering data;
and step S13, rendering the virtual reality scene in real time according to the rendering data.
Specifically, in the process of constructing the virtual reality scene, since the operator and the surgical instrument may move during the surgical procedure, the real-time state data of the object in the surgical scene may be acquired through steps S11 to S13, and the real-time state data is converted into rendering data to render the virtual reality scene.
In a preferred embodiment of the present invention, as shown in fig. 3, step S2 includes:
step S21, measuring and calculating the visual field range of the light beam emitted by the optical positioner;
and step S22, performing three-dimensional modeling according to the measured visual field range to generate a virtual beam cone.
Specifically, the field of view of the light beam emitted from the optical positioner is measured and calculated through steps S21 to S22, and three-dimensional modeling is performed according to the measured field of view, thereby obtaining a virtual beam cone.
In a preferred embodiment of the present invention, as shown in fig. 4, step S3 includes:
step S31, predefining a first movable range of the object and a second movable range of the virtual beam cone;
step S32, obtaining the contact condition between the object and the beam cone in the operation process;
and step S33, generating a planning path according to the contact condition, the first moving range and the second moving range.
In a preferred embodiment of the present invention, in step S31, the first movable range is a movement range and a rotation range of the object in six degrees of freedom.
In a preferred embodiment of the present invention, as shown in fig. 5, step S31 includes:
step S311, acquiring the component motion range of the component of the optical positioner;
step S312, defining a second movable range of the virtual beam cone according to the movement range.
In a preferred embodiment of the invention, the component movement range is the rotational degree of freedom and the rotational angle of the component parts.
In a preferred embodiment of the present invention, the second movable range of the virtual beam cone is an angle of rotation of the virtual beam cone around the optical positioner fixed axis.
Specifically, a virtual reality scene corresponding to the whole surgical process is constructed, a first movable range of an object and a second movable range of a virtual beam cone in the surgical process are defined, the contact condition of the object and the virtual beam cone is obtained based on the movement condition of the object in the surgical process, and a preoperative planned path is generated according to the contact condition, the first movable range of the object and the second movable range of the virtual beam cone so as to indicate the movement path of a surgical operator in the surgical process, the movement path of a surgical instrument and the movement path of an optical positioner.
Further, the movement range and the rotation range of the object in six degrees of freedom may be obtained in advance to define the first motion range of the object.
Further, the rotational degree of freedom and the rotational angle of the components of the optical positioner may be measured in advance through steps S311 to S312, and then the second movable range of the virtual beam cone may be defined according to the rotational degree of freedom and the rotational angle. And finally, the obtained second movable range can be regarded as the angle of the virtual beam cone which can rotate around the fixed axis of the optical positioner.
In a preferred embodiment of the present invention, the method further comprises: and controlling the display and the hiding of the virtual light beam cone in the operation process. Specifically, the virtual beam cone hiding can be controlled in time to meet the actual operation requirements.
Wherein, a planning system before operation robot VR is applied to operation robot, as shown in fig. 6, includes:
the first construction module 1 is used for constructing a virtual reality scene;
the second construction module 2 is connected with the first construction module 1 and used for constructing a virtual beam cone according to the visual field range of an optical positioner in the surgical robot in the virtual reality scene;
and the planning module 3 is connected with the second construction module 2 and used for generating a planned path according to the contact condition of the object in the virtual reality scene and the light beam cone.
Specifically, in order to avoid that the movement of an operator and a surgical instrument obstructs an infrared beam between an optical positioner and a photosensitive ball in the surgical process and further influences the normal work of an optical positioning system, the invention further provides a preoperative planning system for a surgical robot VR, which comprises the steps of firstly constructing a virtual reality scene through a first construction module 1, then constructing a virtual beam cone through a second construction module 2 according to the visual field range of the optical positioner in the surgical robot in the virtual reality scene, and finally generating a planned path according to the contact condition of an object in the virtual reality scene and the beam cone by using a planning module 3.
The technical scheme of the invention has the beneficial effects that: a virtual beam cone is constructed in a virtual reality scene according to the visual field range of an optical positioner, a planned path is generated according to the contact condition of an object in the virtual reality scene and the virtual beam cone, the movement path of an operator and a surgical instrument in the operation process is indicated, the infrared beam between the optical positioner and a photosensitive ball is not interfered any more, the optical positioning system always works normally, and the positioning result of the optical positioning system is more accurate.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. A VR preoperative planning method for a surgical robot is characterized in that an optical positioning system in the surgical robot comprises an optical positioner and a photosphere;
the VR preoperative planning method for the surgical robot comprises the following steps:
step S1, constructing a virtual reality scene;
step S2, constructing a virtual beam cone according to the visual field range of the optical positioner in the surgical robot in the virtual reality scene;
and step S3, generating a planning path according to the contact condition of the object in the virtual reality scene and the virtual light beam cone.
2. The surgical robot VR preoperative planning method of claim 1, wherein the step S1 includes:
step S11, constructing a virtual reality scene in the three-dimensional virtual environment;
step S12, acquiring real-time state data of the object in the surgical scene, and converting the real-time state data into rendering data;
and step S13, rendering the virtual reality scene in real time according to the rendering data.
3. The surgical robot VR preoperative planning method of claim 1, wherein the step S2 includes:
step S21, measuring and calculating the visual field range of the light beam emitted by the optical positioner;
and step S22, performing three-dimensional modeling according to the measured visual field range to generate the virtual beam cone.
4. The surgical robot VR preoperative planning method of claim 1, wherein the step S3 includes:
step S31, predefining a first movable range of the object and a second movable range of the virtual beam cone;
step S32, acquiring the contact condition between the object and the light beam cone in the operation process;
step S33, generating the planned path according to the contact condition, the first moving range, and the second moving range.
5. The surgical robot VR pre-operative planning method of claim 4, wherein in the step S31, the first movable range is a movement range and a rotation range of the object in six degrees of freedom.
6. The surgical robot VR pre-operative planning method of claim 4, wherein the step S31 includes:
step S311, obtaining the component motion range of the component of the optical positioner;
step S312, defining the second movable range of the virtual beam cone according to the component movement range.
7. The surgical robot VR pre-operative planning method of claim 6, wherein the component range of motion is a rotational degree of freedom and the rotational angle of the component parts.
8. The surgical robot VR pre-operative planning method of claim 4, wherein the second range of motion of the virtual beam cone is an angle of rotation of the virtual beam cone about the optical positioner axis.
9. The surgical robot VR pre-operative planning method of claim 1, further comprising:
and controlling the display and the hiding of the virtual light beam cone in the operation process.
10. A surgical robot VR pre-operative planning system, comprising:
the first construction module is used for constructing a virtual reality scene;
the second construction module is connected with the first construction module and used for constructing a virtual beam cone according to the visual field range of an optical positioner in the surgical robot in the virtual reality scene;
and the planning module is connected with the second construction module and used for generating a planned path according to the contact condition of the object in the virtual reality scene and the virtual light beam cone.
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| CN202110469212.4A CN113171173B (en) | 2021-04-28 | 2021-04-28 | VR preoperative planning method and system for surgical robot |
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| CN202110469212.4A CN113171173B (en) | 2021-04-28 | 2021-04-28 | VR preoperative planning method and system for surgical robot |
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