CN117122414A - Active tracking type operation navigation system - Google Patents
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- 210000000988 bone and bone Anatomy 0.000 description 22
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- 238000011156 evaluation Methods 0.000 description 7
- 210000004204 blood vessel Anatomy 0.000 description 6
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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
- A61B34/10—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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation 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
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
Abstract
The invention discloses an active tracking type surgical navigation system, which comprises an active tracking system and an optical positioning system arranged on the active tracking system; the optical positioning system comprises a binocular camera which is used for acquiring pose coordinates of a tracking object in the optical positioning system in real time; the optical positioning system is rigidly fixed on the active tracking system, the relative position relation between the optical positioning system and the coordinate system of the active tracking system is obtained through a calibration method, and the optical positioning system is automatically controlled to move along the X axis, the Y axis and the Z axis of the optical positioning system through the active tracking system. The active executing mechanism is arranged on the optical tracking system, and the executing mechanism can automatically adjust the pose of the optical tracking system according to the real-time position of the target object relative to the optical tracking system, so that the target object is always in the visible range of the optical tracking system, thereby better helping doctors to develop operations.
Description
Technical Field
The invention relates to the field of surgical robots, in particular to an active tracking type surgical navigation system.
Background
In recent years, the surgical robot field has been rapidly developed. The surgical robot is an emerging surgical scheme integrating computer technology, image technology and robot technology, and can better overcome the problems of insufficient precision, excessive radiation, operation fatigue and the like of the traditional freehand operation. Surgical navigation systems generally include image workstations, positioning systems, surgical instruments, and the like. The positioning system level can be divided into mechanical positioning, ultrasonic positioning, electromagnetic positioning, optical positioning and the like.
In an optical information guided robotic system, there are two typical ways of mounting the camera:
(1) Eye fixation configuration (FixedCamera or Eye-to-Hand). The camera is arranged right in front of or obliquely beside the robot, and the field of view can completely cover the working space of the robot.
(2) Eye on Hand configuration (Eye-in-Hand). The camera is arranged on the end effector of the robot, and the camera moves along with the movement of the tail end of the robot, so that the working range of the camera is enlarged.
Surgical robotic systems typically employ an eye-mounted configuration to mount cameras that can simultaneously obtain global visual information of the robot and the working environment.
The accuracy of target positioning of an optical information guided surgical robot is mainly dependent on the accuracy of pre-operative hand-eye calibration. The position and direction relation between the robot and the optical positioning system can be obtained through hand-eye calibration. This requires accurate calculation of the spatial relationship between the robot base and the optical positioning system, and between the robot tip and the surgical instrument.
The existing surgical robots have the following disadvantages:
(1) The hand-eye calibration firstly needs to control the robot to move in the visual field range of the optical positioning system, and data required by subsequent calibration calculation is acquired, so that the time consumption is long.
(2) Because the time for collecting the data is long, in order to make the collected data correct, the environment is required to be ensured not to be disturbed in the whole collecting process, so that the requirements on the environment are more severe, and the fault tolerance is low.
(3) The hand-eye calibration requires a series of complex matrix operations, the process of verifying the calibration result is also complex, and robot motion errors may be introduced.
(4) After calibration is completed, if the position of the optical positioning system is changed, the relative position relation between the optical positioning system and the robot is also changed, and unpredictable errors can occur when the target pose is calculated, so that positioning failure is caused.
(5) The probability of the occurrence of the situation is increased due to the existence of a plurality of instruments and equipment and medical staff in the operation scene, and repeated calculation and updating of the calibration result can introduce new robot motion errors and reduce the real-time performance of robot motion following and target area positioning.
(6) After calibration is completed, a series of coordinate system conversion is needed to control the movement of the robot, so that the operation amount is large, and the moving target is difficult to track in real time.
To solve the above problem, the patent application document with application number 202210329570.X discloses a calibration-free target positioning and tracking method based on a surgical robot system, comprising the following steps: s1: constructing a simulated puncture path by two marking balls; s2: constructing an image jacobian matrix; s3: filtering by a volume Kalman filter to obtain a mechanical arm control quantity estimated value at the next moment; s4: the target joint angle is converted into a control quantity of a mechanical arm joint speed domain through a PID algorithm; s5: and repeating the steps S3-S4 until the filtering error is smaller than a preset threshold value, stopping filtering at the moment, and finishing target positioning.
The technical route without calibrating visual servoing is adopted in the scheme, hand-eye calibration operation is not needed before operation, the preparation time before operation can be greatly saved, meanwhile, the failure of the calibrated system coordinate system conversion relation caused by the change of the hand-eye position can be avoided, the anti-interference performance of the surgical robot system is enhanced, and the overall efficiency of the system is improved.
However, in the conventional surgical navigation system, the optical path of the optical tracking system is blocked or the target object, such as a patient, is out of the field of view of the optical tracking system due to the standing position of the doctor, the placement of the device and the movement of the patient, which results in failure of the tracking of the optical tracking system.
Therefore, there is a need for an improvement in such a structure to overcome the above-mentioned drawbacks.
Disclosure of Invention
The invention aims to provide an active tracking type operation navigation system, wherein an active executing mechanism is arranged on an optical tracking system, and the executing mechanism can automatically adjust the pose of the optical tracking system according to the real-time position of a target object relative to the optical tracking system, so that the target object is always in the visible range of the optical tracking system, thereby better helping doctors to perform operations.
The technical aim of the invention is realized by the following technical scheme:
an active tracking type surgical navigation system comprises an active tracking system and an optical positioning system arranged on the active tracking system;
the optical positioning system comprises a binocular camera which is used for acquiring pose coordinates of a tracking object in the optical positioning system in real time;
the optical positioning system is rigidly fixed on the active tracking system, the relative position relation between the optical positioning system and the coordinate system of the active tracking system is obtained through a calibration method, and the optical positioning system is automatically controlled to move along the X axis, the Y axis and the Z axis of the optical positioning system through the active tracking system.
Further, the calibration method comprises the following steps:
1) Fixing an optical positioning system on an active tracking system, and setting a tracking object in the optical positioning system;
2) In the movable range of the active tracking system, 8 preset pose is moved, and the pose coordinates of the tracked object in the optical positioning system under the 8 pose and the movement pose of the active tracking system are recorded at the same time;
3) And calibrating the association relation between the optical positioning system and the active tracking system according to the pose coordinates of the tracked object and the motion pose of the active tracking system.
Further, the calibration method of the association relation between the optical positioning system and the active tracking system is as follows:
3.1 Multiple rotations of the active tracking system about a fixed point to transform the pose and recording the transformation matrix for each rotation
3.2 Recording the installation position of the optical positioning system and the joint angle information of the active tracking system in each pose state;
3.3 According to active trackingThe positive kinematics of the system establishes an interrelationship:assume that the transformation matrix between the base coordinate B and the end coordinate system E of the robot is +.>The transformation matrix of the tool coordinate system and the end coordinate system is +.>The position relation between the tool and the end flange surface of the robot is fixed, and the calibration process is to calibrate the relation between the coordinate system T of the tool and the end coordinate system E of the robot;
3.4 Using least squares method to calculateAnd obtaining the association relation between the optical positioning system and the active tracking system.
Further, the control strategy of the active tracking system is as follows:
when the target object is in the safe area of the optical positioning system, the active tracking system does not move;
when the target object is in the trackable area of the optical positioning system but is outside the safety area, the active tracking system calculates an adjusting angle according to the relative position and the posture and controls the movement of the optical positioning system,
when the target object is invisible because the light path is blocked, executing the strategy according to the actual situation.
Further, when the target object reference frame is not visible, the gesture deflection of the mechanical arm of the active tracking system is large or the joint position is at the boundary, executing the following motion control measurement strategy:
firstly, resetting the mechanical arm based on a remote control mode to recover the normal joint angle of the mechanical arm; if the target object reference frame is visible at the moment, the current gesture is kept; if the reference frame is not visible, the following autonomous motion control strategy is initiated:
detecting the foreground of the reference frame based on a foreground detection algorithm, calculating the pose of the current mechanical arm, and calculating the current view angle; and (3) the mechanical arm is controlled to move clockwise, in the process, the most similar area with the target reference frame appearance model in a new image frame is searched based on the generated tracking, and if the rotation angle is larger than the adjustment angle and the target object reference frame is completely matched and visible, the autonomous motion control is ended.
Further, when the target object reference frame is not visible and the mechanical arm is in a better joint posture, the following motion control measurement strategy is executed:
detecting the foreground of the reference frame based on a foreground detection algorithm, calculating the pose of the current mechanical arm, and calculating the current view angle; and (3) the mechanical arm is controlled to move clockwise, in the process, the most similar area with the target reference frame appearance model in a new image frame is searched based on the generated tracking, and if the rotation angle is larger than the adjustment angle and the target object reference frame is completely matched and visible, the autonomous motion control is ended.
Further, when the target object reference frame is visible, the mechanical arm of the active tracking system is in a state that the attitude deflection is large or the joint position is in a boundary, the following motion control measurement strategy is executed:
firstly, prompting that the mechanical arm is in a relatively bad state, and inquiring whether to continue to use or not; if yes, continuing to use, otherwise, entering a mechanical arm control mode; the fine adjustment movement of the mechanical arm can be automatically or manually performed based on a remote control mode, and the visibility of the target object reference frame in the movement process is ensured.
In summary, the invention has the following beneficial effects:
when the target object possibly leaves the visual range of the optical positioning system, the invention can automatically adjust the pose of the optical positioning system to ensure that the target object is in the visual range.
When the light path of the optical positioning system is blocked, the invention prompts the user to perform manual intervention in a popup window, lamplight or alarm mode, and the working state of the system is recovered in the fastest mode.
Drawings
FIG. 1 is a schematic diagram of an active tracking system and an optical positioning system according to the present invention.
Fig. 2 is a schematic diagram of an active tracking system and an optical positioning system according to the present invention.
Fig. 3 is a schematic diagram of a coordinate system transformation relationship according to the present invention.
Fig. 4 is a flow chart of the operation navigation system according to the present invention.
Detailed Description
In order that the manner in which the above-recited features, advantages, objects and advantages of the invention are obtained, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
The invention provides an active tracking type surgical navigation system, which comprises an active tracking system and an optical positioning system arranged on the active tracking system;
the optical positioning system comprises a binocular camera which is used for acquiring pose coordinates of a tracking object in the optical positioning system in real time;
the optical positioning system is rigidly fixed on the active tracking system, the relative position relation between the optical positioning system and the coordinate system of the active tracking system is obtained through a calibration method, and the optical positioning system is automatically controlled to move along the X axis, the Y axis and the Z axis of the optical positioning system through the active tracking system.
The calibration method comprises the following steps:
1) Fixing an optical positioning system on an active tracking system, and setting a tracking object in the optical positioning system;
2) In the movable range of the active tracking system, 8 preset pose is moved, and the pose coordinates of the tracked object in the optical positioning system under the 8 pose and the movement pose of the active tracking system are recorded at the same time;
3) And calibrating the association relation between the optical positioning system and the active tracking system according to the pose coordinates of the tracked object and the motion pose of the active tracking system.
The calibration method of the association relation between the optical positioning system and the active tracking system comprises the following steps:
3.1 Multiple rotations of the active tracking system about a fixed point to transform the pose and recording the transformation matrix for each rotation
3.2 Recording the installation position of the optical positioning system and the joint angle information of the active tracking system in each pose state;
3.3 Establishing a correlation formula according to positive kinematics of the active tracking system:assume that the transformation matrix between the base coordinate B and the end coordinate system E of the robot is +.>The transformation matrix of the tool coordinate system and the end coordinate system is +.>The position relation between the tool and the end flange surface of the robot is fixed, and the calibration process is to calibrate the relation between the coordinate system T of the tool and the end coordinate system E of the robot;
3.4 Using least squares method to calculateAnd obtaining the association relation between the optical positioning system and the active tracking system.
The control strategy of the active tracking system is as follows:
when the target object is in the safe area of the optical positioning system, the active tracking system does not move;
when the target object is in the trackable area of the optical positioning system but is outside the safety area, the active tracking system calculates an adjusting angle according to the relative position and the posture and controls the movement of the optical positioning system,
when the target object is invisible because the light path is blocked, executing the strategy according to the actual situation.
When the target object reference frame is invisible and the gesture deflection of the mechanical arm of the active tracking system is large or the joint position is at the boundary, executing the following motion control measurement strategy:
firstly, resetting the mechanical arm based on a remote control mode to recover the normal joint angle of the mechanical arm; if the target object reference frame is visible at the moment, the current gesture is kept; if the reference frame is not visible, the following autonomous motion control strategy is initiated:
detecting the foreground of the reference frame based on a foreground detection algorithm, calculating the pose of the current mechanical arm, and calculating the current view angle; and (3) the mechanical arm is controlled to move clockwise, in the process, the most similar area with the target reference frame appearance model in a new image frame is searched based on the generated tracking, and if the rotation angle is larger than the adjustment angle and the target object reference frame is completely matched and visible, the autonomous motion control is ended.
When the target object reference frame is invisible and the mechanical arm is in a good joint posture, executing the following motion control measurement strategy:
detecting the foreground of the reference frame based on a foreground detection algorithm, calculating the pose of the current mechanical arm, and calculating the current view angle; and (3) the mechanical arm is controlled to move clockwise, in the process, the most similar area with the target reference frame appearance model in a new image frame is searched based on the generated tracking, and if the rotation angle is larger than the adjustment angle and the target object reference frame is completely matched and visible, the autonomous motion control is ended.
When the target object reference frame is visible, the mechanical arm of the active tracking system is in a state that the attitude deflection is large or the joint position is in a boundary, the following motion control measurement strategy is executed:
firstly, prompting that the mechanical arm is in a relatively bad state, and inquiring whether to continue to use or not; if yes, continuing to use, otherwise, entering a mechanical arm control mode; the fine adjustment movement of the mechanical arm can be automatically or manually performed based on a remote control mode, and the visibility of the target object reference frame in the movement process is ensured.
Examples
The system is composed of 4 sub-modules as shown in fig. 1: (1) an optical positioning system; (2) an active tracking system; (3) a surgical navigation system; (4) objects to be tracked (such as surgical instruments and patients). The upper computer image processing module is the brain of the operator, and is directly interacted with the doctor, and the doctor completes all osteotomy planning, mechanical arm tracking navigation, osteotomy navigation and postoperative evaluation work based on the module. The upper computer image processing module mainly relates to 5 functional modules, such as preoperative image processing, operation planning, operation registration, intra-operative navigation and postoperative evaluation. A specific flow chart is shown in fig. 3.
The following is a specific description with reference to examples:
the user: the hospital has a user in the role of a system administrator and the hospital has a user in the role of a surgeon who gets a training certificate. The purpose is as follows: and according to the operation of the user on the visual interface, completing a series of osteotomy flows based on the robot autonomous intelligent tracking technology from preoperative planning to postoperative evaluation.
(1) Preoperative image processing
The navigation system loads DICOM data information of CT, CTA or MR of the patient, and a doctor confirms that the patient information is correct and then enters a preoperative planning module; the doctor starts the AI algorithm module to independently reconstruct the bone, the blood vessel model and the needed anatomical feature point position in three dimensions; if the doctor feels that the segmented model is wrong, the manual modification mode modification can be entered; calculating the positions of the anatomical feature points to prepare for an adjustment planning scheme of the calculation geometry; after confirming that the image is not wrong, the doctor enters a preoperative planning module;
(2) Preoperative planning
Entering an osteotomy planning, wherein a visual window can automatically display the three-dimensional model and two-dimensional section conditions of an osteotomy region and surrounding blood vessels, and doctors can interactively perform osteotomy section design through a 3D model; taking a point mode of clicking the surface of a bone as an example, a doctor can select 3 points from a patient bone model to generate an osteotomy face, the doctor can manually drag the position and rotate the angle of the osteotomy face after designing is finished, and the osteotomy planning of the osteotomy face is finished after the doctor determines; according to the operation, the design operation of the osteotomy face is sequentially completed for 2-3 times, so that a closed osteotomy block can be generated, and the osteotomy face design is completed;
the bone block adjusting module is accessed, the bone block can be subjected to real-time position and angle calculation and evaluation in a three-dimensional model dragging mode or a two-dimensional section adjusting mode until the geometric parameters meet the operation requirements, so that a bone block adjusting scheme is determined, preoperative planning information is saved, and the stage is ended;
(3) Preoperative device preparation stage
Starting the osteotomy navigation system by a user, and operating and connecting the user and checking the working state of each system; after confirming that the working state is normal, installing a reference frame on the surgical instrument, and starting equipment calibration; verifying the comprehensive positioning accuracy of the tool, and repeating the previous step and the process of the step until the preset comprehensive positioning accuracy index is met if the comprehensive positioning accuracy of the tool does not meet the expectation; ending the stage after finishing the confirmation;
(4) Preoperative device preparation stage
As shown in fig. 2, after the user pushes the osteotomy system into the designated position in the operating room and the patient lies down, the user checks that the pre-operative planning and the pre-operative equipment confirmation have been completed, and if not done or adjustment is required, the two stages are repeated until the surgical requirements are met; performing probe connection confirmation, and installing a datum reference frame at the osteotomy position of the patient after the confirmation is correct, so as to realize dynamic tracking of the osteotomy position of the patient; respectively selecting set bone characteristic points on a three-dimensional model of an affected part of a patient to register the patient; when the precision is smaller than the set value, the operation precision requirement is met; verifying the bone registration accuracy, and repeating the two steps and the process of the step until the preset registration accuracy is met if the bone registration accuracy does not meet the expectation; after the bone registration accuracy is confirmed without error, ending the stage after the confirmation is finished;
(5) Intraoperative navigation phase
The user checks that the image processing, the preoperative planning, the preoperative equipment preparation and the intraoperative registration are finished and then starts; three-dimensional model information during preoperative planning is derived, wherein the three-dimensional model information comprises bone and blood vessel position information and osteotomy planning information, and navigation in the operation is started after confirming no error; based on pre-registration of preoperative planning and three-dimensional registration results registered in the operation, displaying the relative positions among bones, blood vessels and surgical instruments of a patient, and converting an osteotomy plan scheme of the preoperative planning into a reference coordinate system of a real bone of the patient to obtain an actual osteotomy plan design; starting an automatic tracking function of the mechanical arm, and capturing the position of the pose of the surgical instrument and a bone reference system in real time by a positioning system at the tail end of the mechanical arm and converting the position into a reference coordinate system of the real bone of a patient; because the pose of the surgical instrument is changed due to the pose of the osteotomy, the position of the tracking reference frame cannot be seen by the positioner, the mechanical arm can track the position of the reference frame in real time and adjust the pose of the mechanical arm terminal positioning instrument so as to obtain the pose for better identifying the reference frame of the surgical instrument; the doctor holds the surgical instrument to manually cut bones on the affected part of the patient, and the visual window displays the relative pose information of the bone blocks and the instrument in real time; after the osteotomy is completed, the doctor adjusts the pose of the bone block, the navigation system calculates the relative position relation between the corresponding bone block and other bones in real time, and if the preoperative planning is met, the osteotomy navigation work in real time is completed.
(6) Postoperative evaluation module
The postoperative evaluation module compares the geometric parameters of the patient before operation, the geometric parameters of the preoperative plan and the actual geometric parameters of postoperative adjustment for comparison evaluation; so as to comprehensively evaluate the system precision and the operation effect;
in this embodiment, the three-dimensional model of the bone and the blood vessel is reconstructed through the navigation system image processing module, and accurate osteotomy planning is realized in the visual window in an interactive manner, and the intra-operative navigation module is used for tracking pose information of the bone, the blood vessel and the surgical instrument in real time based on the mechanical arm intelligent tracking technology, so that the intra-operative navigation module provides real-time osteotomy image navigation for doctors, and accuracy and safety of osteotomy operation are ensured.
In this document, the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", "vertical", "horizontal", etc. refer to the directions or positional relationships based on those shown in the drawings, and are merely for clarity and convenience of description of the expression technical solution, and thus should not be construed as limiting the present invention.
In this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a list of elements is included, and may include other elements not expressly listed.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. An active tracking type surgical navigation system is characterized by comprising an active tracking system and an optical positioning system arranged on the active tracking system;
the optical positioning system comprises a binocular camera which is used for acquiring pose coordinates of a tracking object in the optical positioning system in real time;
the optical positioning system is rigidly fixed on the active tracking system, the relative position relation between the optical positioning system and the coordinate system of the active tracking system is obtained through a calibration method, and the optical positioning system is automatically controlled to move along the X axis, the Y axis and the Z axis of the optical positioning system through the active tracking system.
2. The active tracking surgical navigation system of claim 1, wherein the calibration method comprises the steps of:
1) Fixing an optical positioning system on an active tracking system, and setting a tracking object in the optical positioning system;
2) In the movable range of the active tracking system, 8 preset pose is moved, and the pose coordinates of the tracked object in the optical positioning system under the 8 pose and the movement pose of the active tracking system are recorded at the same time;
3) And calibrating the association relation between the optical positioning system and the active tracking system according to the pose coordinates of the tracked object and the motion pose of the active tracking system.
3. The active tracking surgical navigation system of claim 2, wherein the method for calibrating the association between the optical positioning system and the active tracking system is as follows:
3.1 Multiple rotations of the active tracking system about a fixed point to transform the pose and recording the transformation matrix for each rotation
3.2 Recording the installation position of the optical positioning system and the joint angle information of the active tracking system in each pose state;
3.3 Establishing a correlation formula according to positive kinematics of the active tracking system:assume that the transformation matrix between the base coordinate B and the end coordinate system E of the robot is +.>The transformation matrix of the tool coordinate system and the end coordinate system is +.>The position relation between the tool and the end flange surface of the robot is fixed, and the calibration process is to calibrate the relation between the coordinate system T of the tool and the end coordinate system E of the robot;
3.4 Using least squares method to calculateAnd obtaining the association relation between the optical positioning system and the active tracking system.
4. The active tracking surgical navigation system of claim 1, wherein the control strategy of the active tracking system is as follows:
when the target object is in the safe area of the optical positioning system, the active tracking system does not move;
when the target object is in the trackable area of the optical positioning system but is outside the safety area, the active tracking system calculates an adjusting angle according to the relative position and the posture and controls the movement of the optical positioning system,
when the target object is invisible because the light path is blocked, executing the strategy according to the actual situation.
5. The actively tracked surgical navigation system of claim 4, wherein,
when the target object reference frame is invisible and the gesture deflection of the mechanical arm of the active tracking system is large or the joint position is at the boundary, executing the following motion control measurement strategy:
firstly, resetting the mechanical arm based on a remote control mode to recover the normal joint angle of the mechanical arm; if the target object reference frame is visible at the moment, the current gesture is kept; if the reference frame is not visible, the following autonomous motion control strategy is initiated:
detecting the foreground of the reference frame based on a foreground detection algorithm, calculating the pose of the current mechanical arm, and calculating the current view angle; and (3) the mechanical arm is controlled to move clockwise, in the process, the most similar area with the target reference frame appearance model in a new image frame is searched based on the generated tracking, and if the rotation angle is larger than the adjustment angle and the target object reference frame is completely matched and visible, the autonomous motion control is ended.
6. The actively tracked surgical navigation system of claim 4, wherein,
when the target object reference frame is invisible and the mechanical arm is in a good joint posture, executing the following motion control measurement strategy:
detecting the foreground of the reference frame based on a foreground detection algorithm, calculating the pose of the current mechanical arm, and calculating the current view angle; and (3) the mechanical arm is controlled to move clockwise, in the process, the most similar area with the target reference frame appearance model in a new image frame is searched based on the generated tracking, and if the rotation angle is larger than the adjustment angle and the target object reference frame is completely matched and visible, the autonomous motion control is ended.
7. The actively tracked surgical navigation system of claim 4, wherein,
when the target object reference frame is visible, the mechanical arm of the active tracking system is in a state that the attitude deflection is large or the joint position is in a boundary, the following motion control measurement strategy is executed:
firstly, prompting that the mechanical arm is in a relatively bad state, and inquiring whether to continue to use or not; if yes, continuing to use, otherwise, entering a mechanical arm control mode; the fine adjustment movement of the mechanical arm can be automatically or manually performed based on a remote control mode, and the visibility of the target object reference frame in the movement process is ensured.
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| CN (1) | CN117122414A (en) |
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2023
- 2023-10-17 CN CN202311341687.0A patent/CN117122414A/en active Pending
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