CN113885513A - Medical equipment position placing method, system and device - Google Patents
Medical equipment position placing method, system and device Download PDFInfo
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Abstract
The specification discloses a method, a system and a device for placing a position of medical equipment, which can position a first pose of a patient and a second pose of the medical equipment under an equipment coordinate system through an optical tracking device. And then, determining the position coordinates of each obstacle in the environment under a sensor coordinate system through a depth sensor, and converting the position coordinates of each obstacle into an equipment coordinate system from a camera coordinate system according to the relative position and posture of the depth sensor and an optical calibration label on the medical equipment. And finally, planning a path according to the first pose of the patient, the second pose of the medical equipment and the position coordinates of each barrier in the equipment coordinate system, so that the medical equipment is aligned with the patient to execute a corresponding medical task. The medical equipment and the patient are positioned with high precision through the optical tracking equipment, and the obstacle information of the surrounding environment is detected by combining the depth sensor, so that the path planning is automatically carried out, the accurate positioning of the medical equipment is realized, the human resource is saved, and the operation time is shortened.
Description
Technical Field
The application relates to the technical field of artificial intelligence, in particular to a method, a system and a device for placing a position of medical equipment.
Background
With the development of artificial intelligence technology, medical robots become one of the research hotspots in the robot field, and the medical development is greatly promoted by applying the medical robots to the medical processes of rescue, surgical treatment, rehabilitation training and the like.
Taking the operation treatment as an example, currently, when the medical robot is used for the operation treatment, a doctor usually operates the medical robot manually to push the medical robot to the front of a sickbed, and adjust the pose of the medical robot, so that the mechanical arm of the medical robot is aligned to the region to be operated of a patient to perform the operation.
However, since the medical robot is heavy, manual pushing is difficult, and there is an accurate requirement for the placement position of the medical robot during the medical operation, the operator often needs to repeatedly adjust the pose of the medical robot, so that the mechanical arm is aligned to the region to be operated of the patient, which results in long operation time and reduced operation efficiency.
Disclosure of Invention
The embodiment of the specification provides a position placing method, a position placing system and a position placing device of medical equipment, which are used for partially solving the problems in the prior art.
The embodiment of the specification adopts the following technical scheme:
the position placing method for the medical equipment provided by the specification comprises the following steps:
detecting, by an optical tracking device, a first pose of a patient in a device coordinate system and a second pose of a medical device currently in the device coordinate system; wherein, the patient and the medical equipment are both provided with optical calibration labels;
acquiring environmental data of a surrounding environment through a depth sensor of the medical equipment, and determining position coordinates of each obstacle in the environment under a sensor coordinate system;
determining the position coordinates of each obstacle in the equipment coordinate system according to the relative position and posture of the optical calibration label on the depth sensor and the medical equipment, the second position and posture of the medical equipment and the position coordinates of each obstacle in the sensor coordinate system;
and planning a path according to the first pose of the patient, the current second pose of the medical equipment and the position coordinates of each barrier in the equipment coordinate system, and driving according to the planned path to enable the medical equipment to aim at the patient to execute a corresponding medical task.
Optionally, detecting, by the optical tracking device, a first pose of the patient in the device coordinate system specifically includes:
detecting the pose of the optical calibration label arranged on the patient through an optical tracking device;
and determining the pose of the surgical position under the equipment coordinate system as the first pose of the patient according to the preset relative pose between the optical calibration label and the surgical position of the patient and the pose of the optical calibration label.
Optionally, a task component for executing the medical task is arranged on the medical device;
detecting, by an optical tracking device, a second pose of the medical device currently under the device coordinate system, specifically including:
detecting the pose of the optical calibration label arranged on the medical equipment through an optical tracking device;
and determining the pose of the task component in the equipment coordinate system as a second pose of the medical equipment according to the preset relative pose between the optical calibration label and the task component on the medical equipment and the pose of the optical calibration label.
Optionally, determining the position coordinates of each obstacle in the device coordinate system according to the relative pose of the optical calibration tag of the depth sensor on the medical device, the second pose of the medical device, and the position coordinates of each obstacle in the sensor coordinate system, specifically including:
determining a position transformation matrix transformed from the sensor coordinate system to the device coordinate system according to the relative pose of the optical calibration label of the depth sensor on the medical device and a second pose of the medical device under the device coordinate system;
and determining the position coordinates of each obstacle in the equipment coordinate system according to the position transformation matrix and the position coordinates of each obstacle in the sensor coordinate system.
Optionally, the driving according to the planned path specifically includes:
detecting a second pose of the medical device under the device coordinate system by the optical tracking device again according to a unit time interval;
acquiring environmental data of the surrounding environment again through the depth sensor, and determining position coordinates of each obstacle in the environment under the equipment coordinate system;
judging whether the obstacles exist on the current driving path or not according to the position coordinates of the re-determined obstacles in the equipment coordinate system;
if so, re-planning a path according to the first pose of the patient, the second pose of the medical equipment which is re-determined and the position coordinates of each obstacle which is re-determined under the equipment coordinate system;
if not, continuing to drive according to the current driving path.
Optionally, performing path planning according to the first pose of the patient, the current second pose of the medical device, and the position coordinates of each obstacle in the device coordinate system, specifically including:
and taking the coordinate coincidence of the pose of the medical equipment and the first pose of the patient in the horizontal direction as a target, and planning a path according to the current second pose of the medical equipment and the position coordinates of each obstacle in the equipment coordinate system to enable the medical equipment to be aligned to the patient.
The present specification provides a system for locating medical equipment, the system includes an optical tracking device, medical equipment, a hospital bed on which a patient is placed, optical calibration labels are provided on both the patient and the medical equipment, a depth sensor is provided on the medical equipment, wherein:
the optical tracking device configured to detect a first pose of the patient in a device coordinate system and a second pose of the medical device currently in the device coordinate system;
the medical equipment is configured to acquire environmental data of the surrounding environment through the depth sensor and determine position coordinates of obstacles in the environment under a sensor coordinate system; determining the position coordinates of each obstacle in the equipment coordinate system according to the relative position and posture of the optical calibration label on the depth sensor and the medical equipment, the second position and posture of the medical equipment and the position coordinates of each obstacle in the sensor coordinate system; and planning a path according to the first pose of the patient, the current second pose of the medical equipment and the position coordinates of each barrier in the equipment coordinate system, and driving according to the planned path to enable the medical equipment to aim at the patient to execute a corresponding medical task.
This specification provides a position of medical equipment puts device, includes:
a high-precision positioning module configured to detect, by an optical tracking device, a first pose of a patient in a device coordinate system and a second pose of a medical device currently in the device coordinate system; wherein, the patient and the medical equipment are both provided with optical calibration labels;
the obstacle detection module is configured to acquire environmental data of the surrounding environment through a depth sensor of the medical equipment and determine position coordinates of various obstacles in the environment under a sensor coordinate system;
the coordinate conversion module is configured to determine the position coordinates of each obstacle in the device coordinate system according to the relative pose of the depth sensor and the optical calibration label on the medical device, the second pose of the medical device and the position coordinates of each obstacle in the sensor coordinate system;
and the path planning module is configured to plan a path according to the first pose of the patient, the current second pose of the medical equipment and the position coordinates of each obstacle in the equipment coordinate system, and drive according to the planned path to enable the medical equipment to aim at the patient to execute a corresponding medical task.
The present specification provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements a method of positioning a medical device as described above.
The medical device provided by the specification comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the program to realize the position arrangement method of the medical device.
The embodiment of the specification adopts at least one technical scheme which can achieve the following beneficial effects:
in this specification, a first pose of a patient in a device coordinate system and a second pose of a medical device currently in the device coordinate system may be first located by an optical tracking device. Then, environmental data of the surrounding environment are acquired through a depth sensor of the medical equipment, and position coordinates of obstacles in the environment under a sensor coordinate system are determined. And then, converting the position coordinates of each obstacle from a camera coordinate system to an equipment coordinate system according to the relative position and posture of the optical calibration label on the depth sensor and the medical equipment and the second position and posture of the medical equipment. And finally, planning a path according to the first pose of the patient, the second pose of the medical equipment and the position coordinates of each barrier in the equipment coordinate system, and driving according to the planned path to enable the medical equipment to aim at the patient to execute a corresponding medical task.
Carry out high accuracy location to patient and medical equipment through optical tracking equipment to combine the barrier information of degree of depth sensor detection surrounding environment, independently carry out path planning, realized medical equipment's accurate pendulum position, saved manpower resources, further shortened the operation time, improved operation efficiency.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic flowchart of a method for positioning a medical device according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of various devices in an operating room provided by embodiments of the present disclosure;
FIG. 3 is a schematic diagram of various devices in an operating room provided by embodiments of the present disclosure;
fig. 4 is a top view of the medical device provided in the embodiments of the present disclosure after being placed;
fig. 5 is a schematic view of a position-setting system of a medical device according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a position placing device for medical equipment according to an embodiment of the present disclosure;
fig. 7 is a schematic view of a medical device for implementing a position placing method of the medical device according to an embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the present disclosure more apparent, the technical solutions of the present disclosure will be clearly and completely described below with reference to the specific embodiments of the present disclosure and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person skilled in the art without making any inventive step based on the embodiments in the description belong to the protection scope of the present application.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a method for placing a medical device according to an embodiment of the present disclosure, which may specifically include the following steps:
s100: a first pose of a patient in a device coordinate system and a second pose of a medical device currently in the device coordinate system are detected by an optical tracking device.
The medical equipment position placing method described in the specification can adjust the placing position of the medical equipment according to the position of the patient, so that the medical equipment is aligned to the operation area to be operated by the patient, and corresponding medical tasks are executed.
The medical device described in this specification may be an imaging device that performs image acquisition before preparation for surgery, or may be a surgical robot that performs surgery, and the specific type and function of the medical device are not limited in this specification, and position adjustment can be performed by the method described in this specification.
Because there is an accurate requirement for the placement position of the device in the medical operation process, an optical tracking device capable of high-precision positioning can be adopted in the specification to position the position of the patient and the current initial position of the medical device to be placed.
Specifically, the optical calibration label can be placed on the to-be-operated area of the patient and the task component of the medical device for performing the medical task in advance. The optical calibration label can reflect light rays emitted by the optical tracking equipment, so that accurate positioning can be performed. When the medical equipment is medical imaging equipment, the task component for image shooting is imaging equipment, and when the medical equipment is a surgical robot, the task component for surgery is a mechanical arm.
Then, light rays can be emitted outwards through the optical tracking device, and the first pose of the patient in the device coordinate system and the second pose of the medical device in the device coordinate system are determined according to the reflection results of the optical calibration labels on the patient and the medical device. The pose comprises position coordinates and position orientation.
Further, the optical tracking device in this specification may employ a binocular infrared camera, and the corresponding optical calibration tag may be made of an infrared reflective material. Therefore, infrared rays can be emitted outwards through the infrared camera, and the first pose of the patient and the second pose of the medical equipment are positioned according to the infrared ray reflection result.
Fig. 2 is a schematic diagram of the devices in the operating room provided in the present specification, wherein black filled four-pointed stars indicate optical calibration labels, which are placed on the patient and the medical device, respectively. The patient is shown lying on the operating bed, and the gray filled area on the patient represents the operating area where the optical index labels for positioning are placed. The infrared camera is placed at a fixed position near the hospital bed, and the whole space in the whole operating room can be observed. The medical equipment in the figure is medical imaging equipment, can be used for scanning images of affected parts of patients, and is convenient for providing reference for follow-up operations. The infrared camera can emit infrared rays outwards, receive reflected light rays of the optical calibration label on the patient and the optical calibration label on the medical equipment, and accurately position the positions of the patient and the medical equipment in the equipment coordinate system according to the reflection result.
In this specification, the execution main body that controls the medical device to be placed may be a server or the medical device itself.
When the execution subject is medical equipment, the medical equipment can receive the first pose and the second pose sent by the optical tracking equipment, plan a path through subsequent steps and drive according to the planned path.
When the execution main body is a server, the server can receive a first position and a second position of the patient in the equipment coordinate system and a second position of the medical equipment in the equipment coordinate system, which are sent by the optical tracking equipment, plan a path through subsequent steps according to the first position and the second position, and control the medical equipment to travel to a terminal position according to the planned path. The server may be a single server, or a system composed of a plurality of servers, such as a distributed server, or may be a physical server device, or may be a cloud server, which is not limited in this specification and may be set as needed.
For convenience of description, the medical device is taken as an execution subject to be described later.
S102: and acquiring an environment image of the surrounding environment through a depth sensor of the medical equipment, and determining the position coordinates of each obstacle in the environment under a sensor coordinate system.
In one or more embodiments of the present disclosure, after determining the current positions of the patient and the medical device, i.e., determining the starting point and the ending point of the path planning, the sensor configured on the medical device is further used to sense the surrounding environment, so as to avoid collision with obstacles such as other instruments in the surrounding environment.
Specifically, the medical device can acquire environmental data of the surrounding environment through a self-configured depth sensor, and determine the position coordinates of each obstacle in a sensor coordinate system of the depth sensor according to obstacle information of each obstacle in the environmental data. The depth sensor configured on the medical device for environment sensing may be a depth camera, a binocular camera, or a laser radar device, as long as the position of the obstacle can be sensed, which is not limited in this specification and can be specifically set as required.
S104: and determining the position coordinates of each obstacle in the equipment coordinate system according to the relative position postures of the depth sensor and the optical calibration label on the medical equipment, the second position posture of the medical equipment and the position coordinates of each obstacle in the sensor coordinate system.
Since the obstacle position coordinates acquired by the medical device through the depth sensor are relative to the depth sensor, the patient pose and the medical device pose determined in step S100 are both in the device coordinate system of the optical tracking device, i.e., relative to the optical tracking device. The obstacle, the patient and the medical device must then be transformed into the same coordinate system for path planning.
Specifically, since the second pose of the medical device is the pose of the optical calibration label on the medical device in the device coordinate system, the medical device may determine the position transformation matrix transformed from the sensor coordinate system to the device coordinate system according to the relative pose between the preset depth sensor and the optical calibration label on the medical device and the second pose of the medical device. Wherein, the position transformation matrix comprises the transformation of position and the transformation of orientation. And then, performing coordinate conversion according to the determined position transformation matrix and the position coordinates of each obstacle in the sensor coordinate system, and determining the position coordinates of each obstacle in the equipment coordinate system of the optical tracking equipment.
The depth sensor and the optical calibration label are both arranged on the medical equipment in advance, so that the relative pose between the depth sensor and the optical calibration label can be measured in advance.
As shown in fig. 3, reference sign a denotes a patient, reference sign B denotes an optical tracking device, reference sign C denotes a medical device, reference sign D denotes a depth sensor configured on the medical device, reference sign a denotes an optical calibration label placed on the patient, reference sign C denotes an optical calibration label placed on the medical device, and the figure further includes obstacles 1 and obstacles 2 distributed in an operating room, where the obstacles may be static obstacles, such as other medical devices in the operating room, or dynamic obstacles, such as physicians and the like.
According to the second position posture of the medical equipment in the equipment coordinate system of the optical tracking equipment, the position transformation matrix between the optical calibration label on the medical equipment and the optical tracking equipment can be determined to be M (c → B). According to the relative pose between the optical calibration label and the depth sensor on the medical equipment, the position transformation matrix between the optical calibration label and the depth sensor can be determined to be M (D → c). Then, from the position transformation matrix between the optical calibration label and the optical tracking device, and the position transformation matrix between the optical calibration label and the depth sensor, the position transformation matrix converted from the sensor coordinate system to the device coordinate system can be determined as M (D → B) ═ M (D → c) M (c → B).
After the position coordinates of each obstacle in the surrounding environment under the sensor coordinate system are detected by the depth sensor, the position coordinates of each obstacle can be converted into the equipment coordinate system from the sensor coordinate system according to the position conversion matrix M (D → B) converted into the equipment coordinate system for coordinate conversion. For example, assume that the position coordinate of the detected obstacle 1 in the sensor coordinate system is p1The position coordinate of the obstacle 2 in the sensor coordinate system is q1. Then, based on the position transformation matrix between the sensor coordinate system and the device coordinate system, the position coordinate of the obstacle 1 in the device coordinate system can be determined as p2＝M(D→B)p1The position coordinate of the obstacle 2 in the device coordinate system is q2＝M(D→B)q1。
S106: and planning a path according to the first pose of the patient, the current second pose of the medical equipment and the position coordinates of each barrier in the equipment coordinate system, and driving according to the planned path to enable the medical equipment to aim at the patient to execute a corresponding medical task.
In this specification, when the positional relationship of the patient, the medical equipment, and each obstacle in the unified coordinate system is obtained, the path planning is performed, and the medical equipment autonomously travels to the position of the patient to perform the medical task.
In one embodiment of the present specification, the medical device for performing the operation is often higher than the height of the operation bed, so that after the medical device reaches the position of the operation bed, as long as the task component on the medical device is ensured to be consistent with the coordinates of the operation area of the patient in the horizontal direction, the task component on the medical device can be aligned with the operation area to perform the medical task.
Therefore, the medical equipment can coincide the coordinate of the self pose and the first pose of the patient in the horizontal direction to form a target, and path planning is carried out according to the current second pose of the medical equipment and the position coordinate of each obstacle in the equipment coordinate system. The medical device may then be driven along the planned path such that the task module of the medical device is aligned with the surgical field of the patient.
Fig. 4 is a top plan view of an exemplary medical device in its fully deployed position, with the gray filled dashed boxes representing the operative field on the patient and the front end of the medical device representing the task components of the medical device performing the medical task. The medical imaging device can travel according to a planned path to reach the position of the patient, and a task component on the medical imaging device can be aligned with the operation area of the patient to acquire images.
Furthermore, in the process of autonomous driving, the medical device can detect obstacles in the surrounding environment in real time to avoid obstacles, so that the medical device can update the position of the medical device and the positions of the obstacles in real time, namely, the second pose of the medical device in the device coordinate system is detected again through the optical tracking device according to a unit time interval, the environment data of the surrounding environment are collected again through the depth sensor, and the position coordinates of the obstacles in the device coordinate system are updated through the methods of the steps S102 to S104. Then, the medical equipment can judge whether the obstacle exists on the current driving path according to the latest determined position coordinate of each obstacle in the equipment coordinate system. And if the obstacles exist on the current driving path, path planning is carried out again according to the first pose of the patient, the newly determined second pose of the medical equipment and the newly determined position coordinates of the obstacles under the equipment coordinate system. Otherwise, continuing to drive according to the current driving path.
In another embodiment of the present disclosure, since the task components such as the mechanical arm configured on the medical device can be freely adjusted, when the medical device travels along the planned path, and the pose of the medical device coincides with the first pose of the patient in the horizontal direction, the alignment in the horizontal direction is ensured, and then the height of the task component on the medical device can be adjusted to execute the corresponding medical task.
Of course, the height of the operation sickbed can be adjusted on the premise of alignment in the horizontal direction, so that corresponding medical tasks can be executed through the task component on the medical equipment.
Based on the position placing method of the medical device shown in fig. 1, a first pose of a patient in a device coordinate system and a second pose of the medical device in the device coordinate system can be located through an optical tracking device. Then, environmental data of the surrounding environment are acquired through a depth sensor of the medical equipment, and position coordinates of obstacles in the environment under a sensor coordinate system are determined. And then, converting the position coordinates of each obstacle from a camera coordinate system to an equipment coordinate system according to the relative position and posture of the optical calibration label on the depth sensor and the medical equipment and the second position and posture of the medical equipment. And finally, planning a path according to the first pose of the patient, the second pose of the medical equipment and the position coordinates of each barrier in the equipment coordinate system, and driving according to the planned path to enable the medical equipment to aim at the patient to execute a corresponding medical task.
The medical equipment is automatically subjected to path planning by carrying out high-precision positioning on a patient and the medical equipment through the optical tracking equipment and detecting barrier information of the surrounding environment by combining the depth sensor, so that accurate positioning is realized, manpower promotion is not needed, the pose of the medical equipment is not needed to be adjusted repeatedly, the expenditure of manpower resources is effectively reduced, the operation cost is reduced, the operation time is further shortened, and the operation efficiency is improved. And, because of the reduction of the personnel involved in the operation, the risk of operation infection is also reduced.
In addition, when the medical equipment is medical imaging equipment with radiation, the method disclosed by the scheme realizes automatic positioning of the medical equipment, and the risk of exposure of operating personnel to rays can be reduced.
In other embodiments of the present description, since it is inconvenient to place the optical calibration label on the patient in the region to be operated, the optical calibration label can be placed on the patient bed or other position on the patient, and the relative pose between the optical calibration label and the operation position of the patient can be predetermined. The position where the optical calibration label is placed is not limited in the specification, and the optical calibration label can be specifically set as required.
When the first pose of the patient under the equipment coordinate system is detected, the pose of an optical calibration label arranged on the patient body can be detected through the optical tracking equipment. And then, determining the pose of the surgical position of the patient in the equipment coordinate system as the first pose of the patient according to the preset relative pose between the optical calibration label and the surgical position of the patient and the pose of the optical calibration label.
In other embodiments of the present disclosure, since the optical calibration tag cannot be fixed on the task component of the medical device for performing the medical task, the optical calibration tag can also be fixed at any position on the medical device, and the relative pose between the optical calibration tag and the operation position on the medical device can be determined. The position where the optical calibration label is placed is not limited in the specification, and the optical calibration label can be specifically set as required.
When detecting the second pose of the medical equipment in the equipment coordinate system, the pose of the optical calibration label arranged on the medical equipment can be detected through the optical tracking equipment. And then, determining the pose of the task component in the equipment coordinate system as a second pose of the medical equipment according to the relative pose between the preset optical calibration label and the task component on the medical equipment and the pose of the optical calibration label.
In other embodiments of the present disclosure, when the patient, the medical device, and the obstacle are unified in the same coordinate system, since the first pose of the patient and the second pose of the medical device are both in the device coordinate system of the optical tracking device, and the position coordinate of the obstacle is in the sensor coordinate system on the medical device, the first pose of the patient and the second pose of the medical device can also be converted into the sensor coordinate system.
Alternatively, in one embodiment of the present specification, the patient, the medical device, and the obstacle may be unified into a world coordinate system, that is, a first pose of the patient in the device coordinate system and a second pose of the medical device in the device coordinate system are converted into the world coordinate system, and a position coordinate of the obstacle in the sensor coordinate system is converted into the world coordinate system.
Specifically, since the position of the optical tracking device is fixed during a surgery, the position transformation matrix M (B → W) of the optical tracking device can be calibrated in advance, i.e., the transformation parameters for transforming the device coordinate system to the world coordinate system. And then, converting the first pose of the patient in the equipment coordinate system and the second pose of the medical equipment in the equipment coordinate system into a world coordinate system according to the position transformation matrix of the optical tracking equipment. Then, by the method described in the above step S104, the position coordinates of the obstacle are converted into the device coordinate system of the optical tracking device, and the conversion into the world coordinate system is continued based on the position transformation matrix M (B → W) of the optical tracking device. And finally, planning the path to drive according to the relative position relation of the patient, the medical equipment and each obstacle in a world coordinate system.
In one or more embodiments of the present disclosure, when it is determined that the task performed by the medical device is completed, the medical device may return to the original position according to the planned driving path.
Further, in consideration of the movement of the physician in the operating room, an optical calibration label may be placed at the initial position of the medical device in advance, and the position coordinates of the optical calibration label, that is, the position coordinates of the initial position, may be acquired by the optical tracking device. And then, determining the position coordinates of the obstacles in the surrounding environment under the sensor coordinate system in real time according to the environmental data acquired by the depth sensor on the medical equipment, and converting the positions of the obstacles from the sensor coordinate system to the equipment coordinate system according to the current second pose of the medical equipment and the relative pose between the depth sensor on the medical equipment and the optical calibration label on the medical equipment. Finally, unifying the medical equipment in an equipment coordinate system, and planning a path according to the current second position of the medical equipment and the position coordinates of each obstacle by using the position coordinate terminal of the initial position, so that the medical equipment is parked at the initial position.
In one or more embodiments of the present description, a laser positioning device may be used in place of the optical tracking device described above and mounted on the medical device. The laser positioning device can adopt a cross laser device or a linear laser device.
The medical equipment can control the laser spot emitted by the laser positioning equipment to be positioned in the center of the operation area on the patient, and the distance between the medical equipment and the operation area of the patient can be determined according to the laser reflection information. And then, determining the position of each obstacle in the surrounding environment in real time through the environmental data acquired by the depth sensor on the medical equipment. And finally, carrying out obstacle avoidance driving by taking the reduction of the distance between the medical equipment and the patient as a target and combining position coordinates of obstacles in the surrounding environment.
It should be noted that the medical device also needs to continuously adjust the orientation of the laser positioning device during the driving process, so that the laser spot emitted by the laser positioning device can be located at the center of the operation area on the patient at any time.
Based on the above-mentioned method for placing the position of the medical device, the present specification also provides a system for placing the position of the medical device, and the following describes in detail the technical solutions provided in the embodiments of the present application with reference to the drawings.
Fig. 5 is a schematic view of a position placing system of a medical device according to an embodiment of the present disclosure, the system includes an optical tracking device, a medical device, and a hospital bed on which a patient is placed, optical calibration labels are disposed on both the patient and the medical device, and a depth sensor is disposed on the medical device.
When the medical device is controlled to autonomously travel, a first pose of a patient in a device coordinate system and a second pose of the medical device in the device coordinate system can be detected through the optical tracking device.
Then, the medical equipment can acquire environmental data of the surrounding environment through the self-configured depth sensor and determine the position coordinates of each obstacle in the environment under the sensor coordinate system. Because the position of the obstacle obtained by the depth sensor is in the sensor coordinate system, coordinate conversion is carried out according to the relative pose of the calibration label on the depth sensor and the medical equipment, the second pose of the medical equipment and the position coordinate of each obstacle in the sensor coordinate system, the position of each obstacle is converted into the device coordinate system from the sensor coordinate system, and the position coordinate of each obstacle in the device coordinate system is determined.
Then, the medical equipment can receive the first pose of the patient and the second pose of the medical equipment, which are sent by the optical tracking equipment, coincide the final pose of the medical equipment and the coordinate of the first pose of the patient in the horizontal direction to be a target, and carry out path planning according to the current second pose of the medical equipment and the position coordinate of each obstacle in the equipment coordinate system.
Finally, the medical device may be autonomously driven along the planned path such that the task module of the medical device is aligned with the surgical field of the patient.
In addition, the specific implementation of the position placing system of the medical device has been described in detail in the above position placing method, and this description is not repeated herein, and reference may be made to the above description.
Based on the method for placing the position of the medical device shown in fig. 1, an embodiment of the present specification further provides a schematic structural diagram of a device for placing the position of the medical device, as shown in fig. 6.
Fig. 6 is a schematic structural diagram of a position placing device for medical equipment according to an embodiment of the present disclosure, including:
a high-precision positioning module 200 configured to detect, by an optical tracking device, a first pose of a patient in a device coordinate system and a second pose of a medical device currently in the device coordinate system; wherein, the patient and the medical equipment are both provided with optical calibration labels;
the obstacle detection module 202 is configured to acquire environmental data of a surrounding environment through a depth sensor of the medical device, and determine position coordinates of obstacles in the environment under a sensor coordinate system;
a coordinate transformation module 204 configured to determine position coordinates of each obstacle in the device coordinate system according to a relative pose of the depth sensor and an optical calibration tag on the medical device, a second pose of the medical device, and position coordinates of each obstacle in the sensor coordinate system;
and the path planning module 206 is configured to plan a path according to the first pose of the patient, the current second pose of the medical device, and the position coordinates of each obstacle in the device coordinate system, and to drive according to the planned path, so that the medical device is aligned with the patient to execute a corresponding medical task.
Optionally, the high-precision positioning module 200 is specifically configured to detect, by an optical tracking device, a pose of the optical calibration tag set on the patient, and determine, according to a preset relative pose between the optical calibration tag and the surgical position of the patient and the pose of the optical calibration tag, a pose of the surgical position in the device coordinate system as the first pose of the patient.
Optionally, a task component for executing the medical task is disposed on the medical device, and the high-precision positioning module 200 is specifically configured to detect a pose of the optical calibration label disposed on the medical device through an optical tracking device, and determine a pose of the task component in the device coordinate system according to a preset relative pose between the optical calibration label and the task component on the medical device and the pose of the optical calibration label, as a second pose of the medical device.
Optionally, the coordinate transformation module 204 is specifically configured to determine a position transformation matrix transformed from the sensor coordinate system to the device coordinate system according to the relative pose of the optical calibration tag of the depth sensor on the medical device and the second pose of the medical device in the device coordinate system, and determine the position coordinates of each obstacle in the device coordinate system according to the position transformation matrix and the position coordinates of each obstacle in the sensor coordinate system.
Optionally, the path planning module 206 is specifically configured to detect, at a unit time interval, a second pose of the medical device under the device coordinate system by the optical tracking device again, acquire environmental data of a surrounding environment by the depth sensor again, determine position coordinates of each obstacle in the environment under the device coordinate system, determine whether an obstacle exists on the current travel path according to the re-determined position coordinates of each obstacle under the device coordinate system, if yes, re-plan the path according to the first pose of the patient, the re-determined second pose of the medical device, and the re-determined position coordinates of each obstacle under the device coordinate system, and if not, continue to travel according to the current travel path.
Optionally, the path planning module 206 is specifically configured to, with a coordinate coincidence between the pose of the medical device and the first pose of the patient in the horizontal direction as a target, perform path planning according to the current second pose of the medical device and the position coordinates of each obstacle in the device coordinate system, so that the medical device is aligned with the patient.
The present specification further provides a computer-readable storage medium, which stores a computer program, where the computer program can be used to execute the method for locating a medical device provided in fig. 1.
According to a method for placing a medical device shown in fig. 1, an embodiment of the present specification further provides a schematic structural diagram of the medical device shown in fig. 7. As shown in fig. 7, at the hardware level, the medical device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, but may also include hardware required for other services. The processor reads a corresponding computer program from the non-volatile memory into the memory and then runs the computer program to implement the position arrangement method of the medical device shown in fig. 1.
Of course, besides the software implementation, the present specification does not exclude other implementations, such as logic devices or a combination of software and hardware, and the like, that is, the execution subject of the following processing flow is not limited to each logic unit, and may be hardware or logic devices.
In the 90 s of the 20 th century, improvements in a technology could clearly distinguish between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain the corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and create a dedicated integrated circuit chip. Furthermore, nowadays, instead of manually generating an Integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is also written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abel (advanced Boolean Expression Language), ahdl (alternate Language Description Language), traffic, pl (core unified Programming Language), HDCal, JHDL (Java Hardware Description Language), langue, Lola, HDL, laspam, hardbyscript Description Language (vhigh Description Language), and so on, which are currently used in the most popular languages. It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.
The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be considered a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the various elements may be implemented in the same one or more software and/or hardware implementations of the present description.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only an example of the present specification, and is not intended to limit the present specification. Various modifications and alterations to this description will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification should be included in the scope of the claims of the present specification.
Claims (10)
1. A method for locating medical equipment, comprising:
detecting, by an optical tracking device, a first pose of a patient in a device coordinate system and a second pose of a medical device currently in the device coordinate system; wherein, the patient and the medical equipment are both provided with optical calibration labels;
acquiring environmental data of a surrounding environment through a depth sensor of the medical equipment, and determining position coordinates of each obstacle in the environment under a sensor coordinate system;
determining the position coordinates of each obstacle in the equipment coordinate system according to the relative position and posture of the optical calibration label on the depth sensor and the medical equipment, the second position and posture of the medical equipment and the position coordinates of each obstacle in the sensor coordinate system;
and planning a path according to the first pose of the patient, the current second pose of the medical equipment and the position coordinates of each barrier in the equipment coordinate system, and driving according to the planned path to enable the medical equipment to aim at the patient to execute a corresponding medical task.
2. The method of claim 1, wherein detecting a first pose of the patient in the device coordinate system with an optical tracking device comprises:
detecting the pose of the optical calibration label arranged on the patient through an optical tracking device;
and determining the pose of the surgical position under the equipment coordinate system as the first pose of the patient according to the preset relative pose between the optical calibration label and the surgical position of the patient and the pose of the optical calibration label.
3. The method of claim 1, wherein a task component is provided on the medical device for performing the medical task;
detecting, by an optical tracking device, a second pose of the medical device currently under the device coordinate system, specifically including:
detecting the pose of the optical calibration label arranged on the medical equipment through an optical tracking device;
and determining the pose of the task component in the equipment coordinate system as a second pose of the medical equipment according to the preset relative pose between the optical calibration label and the task component on the medical equipment and the pose of the optical calibration label.
4. The method of claim 1, wherein determining the position coordinates of each obstacle in the device coordinate system based on the relative pose of the depth sensor optically calibrated tags on the medical device, the second pose of the medical device, and the position coordinates of each obstacle in the sensor coordinate system comprises:
determining a position transformation matrix transformed from the sensor coordinate system to the device coordinate system according to the relative pose of the optical calibration label of the depth sensor on the medical device and a second pose of the medical device under the device coordinate system;
and determining the position coordinates of each obstacle in the equipment coordinate system according to the position transformation matrix and the position coordinates of each obstacle in the sensor coordinate system.
5. The method of claim 1, wherein following the planned route, in particular comprising:
detecting a second pose of the medical device under the device coordinate system by the optical tracking device again according to a unit time interval;
acquiring environmental data of the surrounding environment again through the depth sensor, and determining position coordinates of each obstacle in the environment under the equipment coordinate system;
judging whether the obstacles exist on the current driving path or not according to the position coordinates of the re-determined obstacles in the equipment coordinate system;
if so, re-planning a path according to the first pose of the patient, the second pose of the medical equipment which is re-determined and the position coordinates of each obstacle which is re-determined under the equipment coordinate system;
if not, continuing to drive according to the current driving path.
6. The method of claim 1, wherein performing path planning according to the first pose of the patient, the current second pose of the medical device, and the position coordinates of each obstacle in the device coordinate system comprises:
and taking the coordinate coincidence of the pose of the medical equipment and the first pose of the patient in the horizontal direction as a target, and planning a path according to the current second pose of the medical equipment and the position coordinates of each obstacle in the equipment coordinate system to enable the medical equipment to be aligned to the patient.
7. A medical equipment position placing system is characterized by comprising an optical tracking device, medical equipment and a sickbed on which a patient is placed, wherein optical calibration labels are arranged on the patient and the medical equipment, and a depth sensor is arranged on the medical equipment, wherein:
the optical tracking device configured to detect a first pose of the patient in a device coordinate system and a second pose of the medical device currently in the device coordinate system;
the medical equipment is configured to acquire environmental data of the surrounding environment through the depth sensor and determine position coordinates of obstacles in the environment under a sensor coordinate system; determining the position coordinates of each obstacle in the equipment coordinate system according to the relative position and posture of the optical calibration label on the depth sensor and the medical equipment, the second position and posture of the medical equipment and the position coordinates of each obstacle in the sensor coordinate system; and planning a path according to the first pose of the patient, the current second pose of the medical equipment and the position coordinates of each barrier in the equipment coordinate system, and driving according to the planned path to enable the medical equipment to aim at the patient to execute a corresponding medical task.
8. A medical equipment position-placing device is characterized by comprising:
a high-precision positioning module configured to detect, by an optical tracking device, a first pose of a patient in a device coordinate system and a second pose of a medical device currently in the device coordinate system; wherein, the patient and the medical equipment are both provided with optical calibration labels;
the obstacle detection module is configured to acquire environmental data of the surrounding environment through a depth sensor of the medical equipment and determine position coordinates of various obstacles in the environment under a sensor coordinate system;
the coordinate conversion module is configured to determine the position coordinates of each obstacle in the device coordinate system according to the relative pose of the depth sensor and the optical calibration label on the medical device, the second pose of the medical device and the position coordinates of each obstacle in the sensor coordinate system;
and the path planning module is configured to plan a path according to the first pose of the patient, the current second pose of the medical equipment and the position coordinates of each obstacle in the equipment coordinate system, and drive according to the planned path to enable the medical equipment to aim at the patient to execute a corresponding medical task.
9. A computer-readable storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the method of any of the preceding claims 1 to 6.
10. A medical device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the method of any of claims 1 to 6.
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