WO2021114595A1 - 导航手术***及其注册方法、电子设备及支撑装置 - Google Patents

导航手术***及其注册方法、电子设备及支撑装置 Download PDF

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Publication number
WO2021114595A1
WO2021114595A1 PCT/CN2020/095979 CN2020095979W WO2021114595A1 WO 2021114595 A1 WO2021114595 A1 WO 2021114595A1 CN 2020095979 W CN2020095979 W CN 2020095979W WO 2021114595 A1 WO2021114595 A1 WO 2021114595A1
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Prior art keywords
navigation
arm
coordinate system
relative
tracking device
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PCT/CN2020/095979
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English (en)
French (fr)
Inventor
李涛
何超
程武超
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苏州微创畅行机器人有限公司
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Priority to JP2022535039A priority Critical patent/JP7464713B2/ja
Priority to EP20900060.3A priority patent/EP4074275A4/en
Priority to AU2020399817A priority patent/AU2020399817B2/en
Priority to BR112022011003A priority patent/BR112022011003A2/pt
Publication of WO2021114595A1 publication Critical patent/WO2021114595A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/32—Surgical robots operating autonomously
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
    • A61B50/10—Furniture specially adapted for surgical or diagnostic appliances or instruments
    • A61B50/13—Trolleys, e.g. carts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • 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
    • A61B2034/2051—Electromagnetic tracking systems
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers
    • A61B2090/3941—Photoluminescent markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
    • A61B2560/04—Constructional details of apparatus
    • A61B2560/0437—Trolley or cart-type apparatus

Definitions

  • the invention relates to the field of robot-assisted navigation surgery, in particular to a navigation surgery system, a registration method thereof, and electronic equipment.
  • Navigational surgical systems are increasingly being used in surgical operations, especially orthopedic operations.
  • MAKO orthopedic navigation surgery system and Robodoc orthopedic navigation surgery system, etc. both use a combination of robotic arms and infrared optical navigation equipment, according to the doctor's preoperative planning, combined with intraoperative registration registration technology, that is, optical navigation equipment collects patient bones
  • the real position of the robot is matched with the coordinate system of the skeleton model in the software, and the robot is used to assist the doctor to complete the operation.
  • the registration technology is the key technology for connecting robots and navigation equipment.
  • the robot learns the location of the surgical area that needs to be operated through the registration and registration technology, and performs active positioning operations or assisted surgical operations according to the surgical plan.
  • the current general registration tools and methods have the following problems:
  • the procedure is cumbersome and the extra operation time is long.
  • the robot arm is registered before the bone registration to register the position relationship between the robot arm and the navigation device.
  • the conventional method for registration of a robotic arm is to install a registered target at the end of the robotic arm. After the registration is completed, the registered target is removed.
  • the installation requirements of the target are high, and the connection between the robot arm and the target is usually realized by a fixed connection method.
  • the process of removing and installing the target is relatively time-consuming.
  • another type of target needs to be replaced for registration. Orthopedic surgery requires that the exposure time of the surgical area be minimized to reduce the probability of infection.
  • the present invention provides a navigation surgery system and its registration method and electronic equipment, which aim to simplify the operation procedure, shorten the extra operation time, and improve the reliability and real-time of position tracking.
  • the navigation surgery system includes a robot system and a navigation system communicatively connected with the robot system;
  • the robot system includes a robotic arm, and the navigation system includes a navigation tracking device;
  • the robot system has a robot arm base coordinate system established on the robot arm, and the robot arm base coordinate system is configured to be fixed in position relative to the supporting device;
  • the navigation system has a reference coordinate system that can be recognized by the navigation tracking device, and the reference coordinate system is configured to be fixed relative to the position of the supporting device;
  • the navigation operation system is configured to obtain the position relationship between the robot arm and the navigation tracking device according to the position relationship between the base coordinate system of the robot arm and the support device, and the position relationship between the reference coordinate system and the support device. Positional relationship.
  • the navigation operation system includes a mechanical arm fixing device, the mechanical arm is fixed to the supporting device by the mechanical arm fixing device;
  • the mechanical arm fixing device includes a vertically arranged bracket and a horizontally arranged cantilever; One end of the bracket is fixed on the supporting device, the other end is connected to one end of the cantilever, and the other end of the cantilever is connected to the mechanical arm.
  • the manipulator arm has a base joint, the position of the base joint relative to the supporting device is fixed, and the base coordinate system of the manipulator arm is set at the base joint.
  • the navigation surgery system is further configured to obtain the position of the robot arm base coordinate system relative to the support device according to the length of the cantilever and the height of the cantilever relative to the support device.
  • the navigation surgical system further includes an operating trolley, and the robotic arm is mounted on the operating trolley, and the location of the operating trolley relative to the supporting device is fixed; the robotic arm has a base joint, The position of the base joint relative to the operating pallet is fixed, and the manipulator base coordinate system is set at the base joint.
  • the reference coordinate system is set on the supporting device or on the operating trolley.
  • the navigation surgery system further includes a navigation trolley, and the navigation tracking device is installed on the navigation trolley.
  • the navigation operation system further includes a navigation support arm; the navigation tracking device is fixed on the support device through the navigation support arm, and the navigation support arm has several degrees of freedom to drive the end of the navigation support arm The connected navigation tracking device moves to adjust the position and posture of the navigation tracking device.
  • the navigation arm has a navigation base joint, and the position of the navigation base joint relative to the support device is fixed, and the reference coordinate system is set on the support device or at the navigation base joint .
  • the navigation operation system further includes an operation object fixing device for fixing the operation object on the supporting device and fixing the position of the operation object relative to the supporting device; wherein, the navigation system further includes Target elements with multiple characteristic points are calibrated on the surgical object, and the navigation surgical system is configured to obtain the position of the target area on the surgical object relative to the robotic arm according to the multiple of the characteristic points.
  • the navigation tracking device is an optical navigation tracking device, and the navigation system further includes a plurality of optical marks, each of the optical marks can be recognized by the optical navigation tracking device; a plurality of the optical marks Used to establish the reference coordinate system.
  • optical marks there are at least three optical marks and are arranged on the supporting device. .
  • the optical mark is a spherical reflective mark or a sticker-type reflective mark.
  • the navigation tracking device is a magnetic navigation tracking device
  • the magnetic navigation tracking device includes a magnetic emission device and a magnetic positioning device
  • the magnetic emission device is used to generate a magnetic field
  • the magnetic positioning device is used to induce a magnetic field.
  • An electrical signal is generated for establishing the reference coordinate system.
  • the magnetic positioning device includes an induction coil.
  • the navigation tracking device is an inertial navigation tracking device, and the navigation system includes at least one inertial navigation marker, and the inertial navigation marker can be recognized by the inertial navigation tracking device for establishing the Base coordinate system.
  • the inertial navigation marker is used to set on the surgical target.
  • a target is installed at the end of the robotic arm, and the target is used to track the spatial position of the end of the robotic arm.
  • the present invention provides a registration method for a navigation surgery system
  • the navigation surgery system includes a robot system and a navigation system communicatively connected with the robot system
  • the robot system includes a robotic arm
  • the The navigation system includes navigation tracking equipment
  • the registration method includes:
  • the position relationship between the navigation tracking device and the robot arm is determined according to the position relationship between the base coordinate system of the robot arm and the support device, and the position relationship between the reference coordinate system and the support device, respectively.
  • the robot arm base coordinate system is established, the robot arm base coordinate system is set on the base joint of the robot arm, and the position of the base joint of the robot arm relative to the supporting device is fixed.
  • the reference coordinate system when the reference coordinate system is established, the reference coordinate system is set on the navigation base joint of the operating pallet, the supporting device or the navigation arm, and the operating pallet or the navigation arm
  • the position of the navigation base joint relative to the supporting device is fixed, so that the navigation tracking device is fixed on the supporting device through the navigation arm.
  • the mechanical arm is fixed to the supporting device by a mechanical arm fixing device;
  • the mechanical arm fixing device includes a vertically arranged bracket and a horizontally arranged cantilever; one end of the bracket is fixed on the supporting device, and the other end One end of the cantilever is connected, and the other end of the cantilever is connected to the mechanical arm; wherein, the position of the basic coordinate system of the mechanical arm relative to the supporting device is determined according to the length of the cantilever and the height of the cantilever relative to the supporting device .
  • the registration method includes:
  • the navigation tracking device is fixed on the supporting device through a navigation support arm, so that the position and posture of the navigation tracking device connected at the end can be adjusted by the navigation support arm.
  • the registration method further includes:
  • the position of the target area on the surgical object relative to the robot arm is determined according to multiple feature points set on the surgical object fixed in position relative to the supporting device.
  • the registration method further includes:
  • a target is installed at the end of the robotic arm to track the spatial position of the end of the robotic arm through the target.
  • an optical navigation tracking device a magnetic navigation tracking device, or an inertial navigation tracking device is used to establish the reference coordinate system.
  • the electronic device provided by the present invention includes a processor and a memory, and a computer program is stored on the memory.
  • a computer program is stored on the memory.
  • the present invention provides a support device for a navigation surgical system, the support device is used to support a patient, wherein the support device is provided with a plurality of positioning devices, the plurality of positioning devices The device is used to communicate with the navigation tracking equipment.
  • the positioning device includes an optical reflector.
  • a robot arm fixing device for fixing a robot arm and/or a navigation arm for fixing the navigation tracking device is provided on the support device.
  • the navigation surgery system and its registration method provided by the present invention, by fixing the position of the base coordinate system of the robot arm with the supporting device, and fixing the position of the reference coordinate system that can be recognized by the navigation tracking equipment with the supporting device, it can be directly
  • the relative position between the robotic arm and the navigation tracking device is registered without the need to install a target on the end of the robotic arm or the base of the robotic arm for registration of the robotic arm, which simplifies the surgical procedure, shortens the exposure time of the surgical area, and reduces the patient's burden.
  • the chance of infection In particular, during the operation, there is no need to install a target on the robotic arm, so that the collection of the end position of the robotic arm will not be affected by the vibration during the movement of the robotic arm. Therefore, the reliability and reliability of the collection of the end position of the robotic arm are ensured. real-time.
  • Figure 1 is a schematic diagram of a traditional navigation surgery system
  • FIG. 2 is a schematic structural diagram of a navigation surgery system according to the first embodiment of the present invention.
  • Fig. 3 is a schematic structural diagram of a navigation surgery system along a first angle according to the second embodiment of the present invention
  • FIG. 4 is a schematic structural diagram of the navigation surgery system along a second angle according to the second embodiment of the present invention.
  • Fig. 5 is a schematic structural diagram of a navigation surgery system according to the third embodiment of the present invention.
  • Fig. 6 is a schematic structural diagram of a navigation surgery system according to the fourth embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of a navigation surgery system according to the fifth embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of a navigation surgery system according to the sixth embodiment of the present invention.
  • Figure 9a is a schematic diagram of traditional bone registration related to Embodiment 6 of the present invention.
  • Figure 9b is a schematic diagram of bone registration in the sixth embodiment of the present invention.
  • Fig. 10 is a schematic structural diagram of a navigation surgery system according to the seventh embodiment of the present invention.
  • Fig. 11 is a schematic structural diagram of a navigation surgery system according to the eighth embodiment of the present invention.
  • Fig. 12 is a schematic structural diagram of a navigation surgery system according to the ninth embodiment of the present invention.
  • Figure 13 is a schematic structural diagram of a navigation surgery system according to the tenth embodiment of the present invention.
  • Fig. 14 is a registration flowchart of a navigation surgery system according to an embodiment of the present invention.
  • the singular forms “a”, “an” and “the” include plural items unless the content clearly dictates otherwise.
  • the term “or” is usually used in the meaning including “and/or” unless the content clearly indicates otherwise.
  • the term “several” is usually used to include “at least one” unless the content clearly indicates otherwise.
  • the term “at least two” is generally used in the meaning including “two or more” unless the content clearly indicates otherwise.
  • the terms “first”, “second”, and “third” are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined with “first”, “second”, and “third” may explicitly or implicitly include one or at least two of these features.
  • the existing navigation surgery system has the problems of cumbersome registration process, long additional operation time, and poor reliability and real-time performance of position tracking.
  • the traditional navigation surgical system 100 operates on the surgical area 105 of the patient 110, which specifically includes a robot system 115 and a navigation system 165.
  • the robot system 115 includes a robot arm 120.
  • the robotic arm 120 is provided with an end effector or surgical instrument 125 at its distal end 130.
  • the surgical instrument 125 can be positioned by the robotic arm 120.
  • the robotic arm 120 includes a plurality of joints 135 that allow the surgical instrument 125 to be positioned at any desired location near or within a given surgical area 105.
  • the robot system 115 also includes a computer system for operating the robotic arm 120 and the surgical instrument 125.
  • the computer system includes a controller located in the console cart 140, and a human-machine interface device 145, such as a display, located on the console cart 140 for providing the surgeon with images used during surgery.
  • the computer system communicates with the navigation system 165, and the navigation system 165 can monitor multiple tracking elements fixed to the object of interest, such as the optical target 170 at the end of the robotic arm, to track the positions of multiple objects in the surgical area 105.
  • the navigation system 165 is used to interact with the optical target 170 to create a virtual three-dimensional coordinate system in the surgical area 105 for tracking the patient's anatomy, surgical instruments or part of the robotic system 115.
  • the optical target 170 is placed on the robot arm 120 or the surgical instrument 125 to track the position of the virtual three-dimensional coordinate system, and then provide position data, such as patient position, bone position, joint position, and robot arm position.
  • the mechanical arm 120 is fixed on the console cart 140.
  • the navigation system 165 tracks the spatial position of the end-of-manipulator instruments or surgical tools in real time and displays them on the display.
  • a common method is to install a target on the end of the robotic arm or the base of the robotic arm, and track the target through the navigation system 165 to achieve real-time tracking of the end of the robotic arm/surgical instrument.
  • the vibration of the robotic arm will cause the target on the robotic arm to also vibrate, which greatly affects the reliability and real-time performance of tracking.
  • the present invention proposes a navigation operation system and a registration method of the navigation operation system.
  • Improve the reliability and real-time tracking of the end position of the robotic arm, and at the same time eliminate the registration process of the robotic arm, shorten the extra operation time, and reduce the chance of infection of the patient.
  • the navigation surgery system includes a robot system and a navigation system that are communicatively connected; the robot system includes a mechanical arm, and the navigation system includes a navigation tracking device.
  • the navigation tracking device includes an optical navigation tracking device, a magnetic navigation tracking device or an inertial navigation tracking device.
  • the registration method of the navigation surgery system includes: establishing a reference coordinate system in the navigation surgery system that can be recognized by the navigation tracking device, and fixing the reference coordinate system and the relative position between the support device for supporting the patient, for example, between hospital beds; At the same time, the robot arm base coordinate system is established on the robot arm, and the relative position between the robot arm base coordinate system and the support device is fixed; and then the position relationship between the robot arm base coordinate system and the support device and the reference The positional relationship between the coordinate system and the supporting device determines the positional relationship between the navigation tracking device and the robotic arm.
  • the process of installing a target (such as an optical reflection device or an optical tracking device) on the end of the robotic arm or the base for the registration of the robotic arm can be omitted, and the process of disassembling and assembling the target can be omitted, and the operation time can be saved.
  • the navigation system can track the space position of the end instrument or surgical tool of the robot arm in real time and display it on the display.
  • FIG. 2 is a schematic structural diagram of a navigation surgery system 200 according to the first embodiment of the present invention.
  • this embodiment provides a navigation surgery system 200, which includes a robot system and a navigation system that are connected in communication.
  • the robotic system includes a robotic arm 2.
  • the end of the robotic arm 2 is used to install surgical instruments.
  • the surgical instruments can be any surgical instruments suitable for use in the robotic system, such as clamps, flanging devices, reaming devices, and impactors. Device or humeral head impactor, etc.
  • the navigation system includes an optical navigation tracking device 4 and a positioning device, such as a plurality of optical markers, which can be identified and tracked by the optical navigation tracking device 4.
  • a plurality of the optical marks 101 are installed on a supporting device 1 (such as a hospital bed), and the positions of these optical marks relative to the supporting device 1 are fixed and known. Therefore, the navigation system of the present invention can establish a reference coordinate system based on the supporting device 1 as long as it is based on multiple optical marks, so that the position of the reference coordinate system relative to the supporting device 1 is fixed and known. Further, a plurality of the optical marks are preferably distributed in a matrix on the supporting device 1 to simplify the calculation process.
  • a plurality of the optical marks are arranged on the supporting device 1 at a fixed interval. Furthermore, the number of the optical markers is at least three, so as to establish a spatial rectangular coordinate system based on the at least three optical markers, that is, the reference coordinate system is a spatial rectangular coordinate system.
  • the position of the optical mark on the support device 1 is not limited, as long as the position of the optical mark on the support device 1 is fixed, and the installation position of the optical mark relative to the support device 1 is also known before the operation. , That is, the position of the reference coordinate system on the supporting device is known.
  • the optical mark may be a spherical reflective mark or a sticker-type reflective mark.
  • the robot arm 2 is fixed on the support device 1 by the robot arm fixing device 5, and the position of the robot arm fixing device 5 relative to the support device 1 is fixed and known, that is, the robot arm fixing device 5 is relative to the support device 1.
  • the position of the device 1 is fixed, determined and obtained.
  • the mechanical arm fixing device 5 specifically includes a vertically arranged bracket 51 and a horizontally arranged cantilever 52; one end of the bracket 51 is fixed on the supporting device 1, and the other end is connected to one end of the cantilever 52, and the other end of the cantilever 52 Connect the robotic arm 2.
  • the mechanical arm 2 has a base, and the base is fixed on the cantilever 52.
  • the mechanical arm 2 also has a base joint 21, which is directly rotatably connected to the base.
  • the present invention does not limit the configuration of the mechanical arm 2.
  • the mechanical arm 2 is formed by a plurality of revolving joints connected in series, and any two adjacent revolving joints are connected by a joint arm.
  • the robot system has a robot arm base coordinate system established on the robot arm 2.
  • the position of the robot arm base coordinate system relative to the support device 1 is fixed, that is, the robot arm base coordinate system is relatively
  • the position in the reference coordinate system remains fixed and is known before the operation. This realizes the registration of the positional relationship between the robotic arm 2 and the optical navigation and tracking device 4, so that the optical navigation and tracking device 4 can track the mechanical arm in real time. position.
  • the robot arm base coordinate system is preferably set at the base joint 21 of the robot arm 2, and the position of the base joint 21 of the robot arm 2 relative to the supporting device 1 is fixed and known. Further in this embodiment, the navigation operation system 200 obtains the position of the base joint 21 of the manipulator 2 relative to the support device 1 according to the length of the cantilever 52 and the height of the cantilever 52 relative to the support device 1 to determine the mechanical The position of the arm base coordinate system relative to the support device.
  • the navigation surgical system 200 of the present invention can register the positional relationship between the robotic arm and the optical navigation tracking device without installing a target on the end of the robotic arm, so the disassembly and assembly of the target can be omitted.
  • the process therefore, shortens the operation time, reduces the exposure time of the operation area, and reduces the probability of infection of the patient.
  • the position of the robotic arm will not be affected by the vibration generated by the movement of the robotic arm. Therefore, the position of the robotic arm is highly accurate, reliable and real-time, and can improve the accuracy of the operation. .
  • the optical navigation and tracking device 4 obtains the position of the patient's bone relative to the support device 1, and the optical navigation and tracking device 4 sends the position information of the bone relative to the support device 1 to the robot system.
  • the position information can know the position of the robotic arm 2 relative to the patient's bones, and can control the robotic arm 2 to perform osteotomy positioning operations.
  • traditional registration methods can be used for bone registration. For example, a doctor holds a target element to select a registration point of interest on the patient's bone, and the navigation tracking device 4 obtains the coordinate information of the bone registration point selected according to the target element, and compares the actual bone with the bone registration point.
  • the bone models in the navigation are matched, and the coordinate information is fed back to the controller, so that the controller can determine the position of the bone.
  • the target element is provided with a device for communicating with the navigation tracking device, such as a reflective ball.
  • an optical target can be installed at the end of the robot arm 2 to track the spatial position of the end of the robot arm, so that redundant tracking of the position of the robot arm can be realized and the reliability of the surgical system can be improved.
  • the reference coordinate system is preferably set at the corners of the supporting device 1, so as to avoid the reference coordinate system being blocked by doctors or nurses, and to ensure the effectiveness of navigation.
  • the navigation operation system 200 further includes a navigation trolley 3, and the optical navigation tracking device 4 is directly installed on the navigation trolley 3. Further, the navigation system communicates with the robot system through a cable.
  • the navigation system includes a navigation controller, which is arranged in the navigation trolley 3.
  • the robot system includes a robot controller, which is arranged at the bottom of the supporting device 1. The navigation controller and the robot controller realize wired communication through a cable.
  • a display can also be provided on the navigation trolley 3 to display the position of the robotic arm or other information in real time.
  • the surgical tools include, but are not limited to, surgical tools for joint surgery, spine surgery, or brain surgery. Surgical tools, etc.
  • all embodiments are described with joint replacement surgical tools as an example, but this should not be used as a limitation to the present invention.
  • Optical navigation tracking The device 4 can know the spatial position of the end of the robotic arm and display it, so as to achieve the purpose of tracking the position of the end instrument or surgical tool in real time.
  • FIG. 3 and 4 are schematic diagrams of the structure of the navigation surgery system 300 provided in the second embodiment of the present invention in different orientations.
  • the structure of the navigation surgery system 300 provided in this embodiment is basically the same as that of the navigation surgery system 200 of the first embodiment, and the following description mainly focuses on the differences between the two.
  • the navigation surgical system 300 of this embodiment further includes an operating trolley 6, and the mechanical arm 2 is directly fixed on the operating trolley 6, and the position of the operating trolley 6 relative to the supporting device 1 is Fixed and known. Based on the same principle, since the position of the base joint 21 of the robot arm 2 relative to the operating pallet 1 is fixed and known, the position of the robot arm base coordinate system relative to the support device 1 is also fixed and known. Therefore, The positional relationship between the base coordinate system of the manipulator and the reference coordinate system is also known.
  • the base of the robotic arm 2 of this embodiment is directly fixed on the operating trolley 6, so the robotic arm fixing device 5 is eliminated.
  • the robot controller may be arranged in the operating trolley 6 and realize wired communication with the navigation controller in the navigation trolley 3 through cables. In some embodiments, the robot controller and the navigation controller communicate wirelessly.
  • FIG. 5 is a schematic structural diagram of a navigation surgery system 400 provided in the third embodiment of the present invention.
  • the structure of the navigation surgery system 400 provided in this embodiment is basically the same as that of the navigation surgery system 300 of the second embodiment, and the following description mainly focuses on the differences between the two.
  • the reference coordinate system of this embodiment is not established on the supporting device 1 but on the operating trolley 6.
  • an optical target 7 is set on the surgical pallet 6, and there are usually at least three reflective balls on an optical target 7, so as to facilitate the establishment of a reference coordinate system based on multiple reflective balls. Since the position of the operating trolley 6 relative to the supporting device 1 is fixed and known, the position of the reference coordinate system relative to the supporting device 1 is also fixed and known. In the same way, since the position of the base coordinate system of the robotic arm relative to the operating pallet 6 is also fixed and known, the positional relationship between the base coordinate system of the robotic arm and the reference coordinate system is also fixed and known, so that the robotic arm 2 and The positional relationship between the optical navigation tracking devices 4 is also known.
  • FIG. 6 is a schematic structural diagram of a navigation surgery system 500 provided by the fourth embodiment of the present invention.
  • the structure of the navigation surgery system 500 provided in this embodiment is basically the same as that of the navigation surgery system 200 of the first embodiment, and the following description mainly focuses on the differences between the two.
  • the optical navigation and tracking device 4 is fixed on the support device 1 through the navigation arm 8, which is convenient for the user to adjust the position and posture of the optical navigation and tracking device 4, which improves the efficiency of the operation, and the navigation trolley 3 can be far away from the support.
  • Device 1 to increase the activity space of the doctor.
  • the navigation support arm 8 is also a mechanical arm configuration and has several degrees of freedom, and an optical navigation tracking device 4 is connected at its end to drive the optical navigation tracking device 4 to move and adjust the position and posture of the optical navigation tracking device 4.
  • the supporting device 1 is provided with an optical mark that can be identified and tracked by the optical navigation tracking device 4, the position of the base joint 21 of the robot arm 2 is fixed relative to the supporting device 1, similarly, the navigation The position of the navigation base joint 81 of the support arm 8 relative to the support device 1 is known, so the position of the robotic arm 2 relative to the optical navigation tracking device 4 is known, and the registration of the robotic arm is not required, only the bone registration is required , The position of the bone relative to the support device 1 is obtained, the navigation system can send the position of the bone relative to the support device 1 to the robot system, and the manipulator 2 then performs the osteotomy positioning operation.
  • a navigation controller is still installed in the navigation trolley 3 of this embodiment, and is connected to the robot controller at the bottom of the supporting device 1 through a cable.
  • the reference coordinate system may be established on the supporting device 1 or at the navigation base joint 81 of the navigation arm 8.
  • FIG. 7 is a schematic structural diagram of a navigation surgery system 600 provided by Embodiment 5 of the present invention.
  • the structure of the navigation surgery system 600 provided in this embodiment is basically the same as that of the navigation surgery system 500 of the fourth embodiment, and the following description mainly focuses on the differences between the two.
  • the optical navigation tracking device 4 is fixed on the cantilever 52 through the navigation support arm 8.
  • the mechanical arm 2 is arranged below the cantilever 52, and the optical navigation and tracking device 4 is arranged above the cantilever 52.
  • the navigation trolley 3 can be far away from the supporting device 1 to increase the activity space of the doctor.
  • FIG. 8 is a schematic structural diagram of a navigation surgery system 700 provided by the sixth embodiment of the present invention.
  • the difference from the navigation operation system 500 of the fourth embodiment is that the navigation operation system 700 of this embodiment does not need to perform bone registration, and only needs to pre-calibrate the position of the bone relative to the supporting device.
  • the navigation operation system 700 of this embodiment further includes an operation object fixing device (not marked), which is used to fix the operation object, such as the patient's lower limb 9 on the support device 1, and make the patient's lower limb 9 relative to the support device 1.
  • the location is fixed.
  • the navigation surgery system 700 also includes a target element for calibrating multiple feature points on the patient's lower limb 9, so that the navigation surgery system 700 obtains the relative operation area (ie, the target area) on the patient's lower limb according to the multiple feature points. In the position of the robotic arm. Therefore, there is no need to install an additional optical target on the patient's lower limbs, which also saves the process of disassembling and assembling the optical target, and further reduces the operation time.
  • an optical target a needs to be installed on the lower limb 9 of the patient for bone registration.
  • Fig. 9b in this embodiment, there is no need to install an optical target on the lower limb 9 of the patient, and only need to use the target element to calibrate multiple characteristic points on the lower limb of the patient to establish the position of the robotic arm relative to the bone. Therefore, the operation is more convenient, and the additional surgical exposure time is further shortened.
  • FIG. 10 is a schematic structural diagram of a navigation surgery system 800 according to the seventh embodiment of the present invention.
  • the structure of the navigation surgery system 800 provided in this embodiment is basically the same as that of the navigation surgery system 200 of the first embodiment, and the following description mainly focuses on the differences between the two.
  • the optical navigation and tracking device 4 is replaced by a magnetic navigation and tracking device 11.
  • the magnetic navigation tracking device 11 includes a magnetic emission device and a magnetic positioning device, the magnetic emission device is used to generate a magnetic field, and the magnetic positioning device is used to induce a magnetic field and generate an induction signal (such as a voltage or current signal), thereby The navigation system establishes a reference coordinate system according to the induction signal of the magnetic positioning device.
  • the magnetic emission device is arranged at the bottom of the supporting device 1, and the optical mark on the supporting device 1 is replaced with at least one magnetic positioning device (not shown). That is, a reference coordinate system is established on the supporting device by the magnetic positioning device.
  • the magnetic positioning device includes at least one induction coil.
  • the magnetic positioning device can be recognized by the magnetic navigation tracking device 11, and the position of the robotic arm relative to the supporting device 1 is fixed and known, the position of the robotic arm relative to the magnetic navigation tracking device 11 is also known. Compared with the optical navigation tracking device, this mode will not be blocked by the doctor or nurse during the operation of the optical navigation tracking device causing navigation failure, which improves the reliability of the navigation operation system.
  • FIG. 11 is a schematic structural diagram of a navigation surgery system 900 provided by Embodiment 8 of the present invention.
  • the structure of the navigation surgery system 900 provided in this embodiment is basically the same as that of the navigation surgery system 800 of the seventh embodiment, and the following description mainly focuses on the differences between the two.
  • the magnetic navigation tracking device 11 is fixed on the support device 1 through the navigation arm 8, and the position of the navigation base joint 81 of the navigation arm 8 relative to the support device 1 is fixed and known.
  • the magnetic positioning device can be provided on the support device 1, can also be provided at the navigation base joint 81 of the navigation arm 8, or can be provided at the base joint 21 of the robot arm 2.
  • FIG. 12 is a schematic structural diagram of a navigation surgery system 1000 provided by the ninth embodiment of the present invention.
  • the structure of the navigation surgery system 1000 provided in this embodiment is basically the same as that of the navigation surgery system 200 of the first embodiment, and the following description mainly focuses on the differences between the two.
  • the inertial navigation tracking device 12 replaces the optical navigation tracking device 4. Further, the inertial navigation tracking device 12 includes an inertial navigation information processing unit (equivalent to a receiver), which can be placed at the bottom of the supporting device. At the same time, the navigation system also includes at least one inertial navigation marker 13 which can be recognized by the inertial navigation information processing unit, that is, the position of the inertial navigation marker 13 relative to the supporting device 1 is Known and fixed. This embodiment does not limit the position of the inertial navigation marker 13, for example, it can be set on the lower limb 9 of the patient. Therefore, the navigation system can establish a reference coordinate system based on the inertial navigation marker 13.
  • the use of inertial navigation and tracking equipment prevents the navigation and tracking equipment from being blocked by doctors or nurses during the operation, thereby avoiding the problem of navigation failure.
  • the doctor can complete the bone registration through the inertial navigation target pen (target element) 14.
  • the inertial navigation information processing unit can be communicatively connected with the inertial navigation marker 13 via a cable, and the inertial navigation information processing unit can be communicatively connected with the navigation controller in the navigation trolley 3 via the cable.
  • the inertial navigation information processing unit may also be arranged in the navigation trolley 3, and the inertial navigation marker 13 is wirelessly connected to the inertial navigation information processing unit, such as wireless transmission through Bluetooth S.
  • the marks on the supporting device are not limited to optical reflective marks, magnetic positioning devices, and inertial navigation marks, but may also be other ways that can be detected by navigation tracking equipment, which is not limited by the present invention.
  • the number and arrangement of optical markers on the supporting device are not limited, as long as at least part of the markers are not blocked by patients, doctors, nurses, etc. at any time during the operation, and can be collected by the navigation tracking device.
  • An embodiment of the present invention further provides an electronic device including a processor and a memory, and a computer program is stored on the memory.
  • a computer program is stored on the memory.
  • an embodiment of the present invention also provides a registration method for a navigation surgery system, including:
  • Step S1 Establish a reference coordinate system that can be recognized by the navigation tracking equipment in the navigation surgery system, and fix the relative position between the reference coordinate system and the supporting device;
  • Step S2 Establish a robot arm base coordinate system on the robot arm, and fix the relative position between the robot arm base coordinate system and the supporting device;
  • Step S3 Determine the position relationship between the navigation tracking device and the robot arm according to the position relationship between the base coordinate system of the robot arm and the support device, and the position relationship between the reference coordinate system and the support device.
  • the robot arm base coordinate system is set on the base joint of the robot arm, and the position of the base joint of the robot arm relative to the supporting device is fixed.
  • the reference coordinate system is set on the navigation base joint of the operating pallet, the supporting device or the navigation arm, and the navigation base of the operating pallet or the navigation arm is set
  • the position of the joint relative to the supporting device is fixed, so that the navigation tracking device is fixed on the supporting device through the navigation arm.
  • the registration method includes: fixing the navigation tracking device to a supporting device through a navigation support arm, so as to adjust the position and posture of the navigation tracking device connected at the end through the navigation support arm.
  • the registration method includes: determining the position of the target area on the surgical object relative to the robotic arm according to a plurality of feature points set on the surgical object fixed in position relative to the supporting device.
  • the position between the manipulator and the navigation and tracking device can be directly realized. Registration does not require the registration of the robotic arm by installing an optical target. Therefore, the process of robotic arm registration is omitted, the operation time is shortened, and the risk of patient infection due to prolonged exposure of the surgical area is reduced. Moreover, during the operation, there is no need to install an optical target on the robotic arm, so that the collection of the end position of the robotic arm will not be affected by the vibration during the movement of the robotic arm. Therefore, the reliability and real-time performance of the collection of the end position of the robotic arm are good. , The position acquisition accuracy is higher.

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Abstract

一种导航手术***(200)及其注册方法、电子设备及支撑装置(1)，导航手术***(200)包括通信连接的机器人***和导航***；机器人***包括机械臂(2)，导航***包括导航跟踪设备(4)；机器人***具有建立在机械臂(2)上的机械臂基坐标系，机械臂基坐标系被配置为相对于支撑装置(1)的位置固定；导航***具有能被导航跟踪设备(4)识别的基准坐标系，基准坐标系被配置为相对于支撑装置(1)的位置固定；导航手术***(200)被配置为根据机械臂基坐标系与支撑装置(1)的位置关系，以及基准坐标系与支撑装置(1)的位置关系，获得机械臂(2)和导航跟踪设备(4)间的位置关系。这样做，无需机械臂(2)注册，可直接配准机械臂(2)和导航跟踪设备(4)间的位置，简化手术流程，缩短手术时间，可以确保机械臂(2)末端位置采集的可靠性和实时性。

Description

导航手术***及其注册方法、电子设备及支撑装置 技术领域
本发明涉及机器人辅助导航手术领域，特别涉及一种导航手术***及其注册方法与电子设备。
背景技术
导航手术***越来越多地被运用到外科手术当中，特别是骨科手术。例如MAKO骨科导航手术***及Robodoc骨科导航手术***等，均是利用机械臂以及红外光学导航设备的结合，根据医生的术前规划，结合术中的注册配准技术，即光学导航设备采集患者骨骼的真实位置，与软件中的骨骼模型坐标系相匹配，使用机器人辅助医生完成手术操作。其中，注册配准技术是连接机器人和导航设备的关键技术。机器人通过注册配准技术得知需要操作的手术区域的位置，根据手术规划，进行主动的定位操作或者辅助手术操作。但是目前通用的注册工具以及方法存在着以下的问题：
(1)流程繁琐及额外手术时间长。一般地，在骨骼注册之前，先进行机械臂注册，以配准机械臂与导航设备间的位置关系。常规的机械臂注册方法为在机械臂末端安装注册靶标，注册完成后，再将注册靶标拆除。但靶标的安装要求高，多采用固定连接的方式实现机械臂与靶标的连接，拆除和安装靶标的过程都比较的费时。而且进行骨骼注册时，还需要更换另一类的靶标进行注册配准。而骨科手术要求尽量地减少手术区域的暴露时间，以降低受感染的概率。
(2)可靠性和实时性差。与前述不同，在另一种机械臂注册方法中，骨骼注册完成后，利用安装在机械臂基座或机械臂末端的靶标，实时地跟踪末端执行器或手术器械的位置。但是机械臂在运动过程中会有震动发生，使导航设备采集的靶标的位置精度也会受到震动的影响，因此，机械臂注册的精度低。
发明内容
为解决上述技术问题，本发明提供一种导航手术***及其注册方法与电子设备，旨在简化手术流程，缩短额外手术时间，并提高位置跟踪的可靠性和实时性。
根据本发明的第一个方面，本发明提供的导航手术***包括机器人***以及与所述机器人***通信连接的导航***；所述机器人***包括机械臂，所述导航***包括导航跟踪设备；
所述机器人***具有建立在所述机械臂上的一机械臂基坐标系，所述机械臂基坐标系被配置为相对于支撑装置的位置固定；
所述导航***具有能够被所述导航跟踪设备所识别的一基准坐标系，所述基准坐标系被配置为相对于支撑装置的位置固定；
所述导航手术***被配置为分别根据所述机械臂基坐标系与支撑装置的位置关系，以及所述基准坐标系与支撑装置的位置关系，获得所述机械臂和所述导航跟踪设备间的位置关系。
可选地，所述导航手术***包括机械臂固定装置，所述机械臂通过所述机械臂固定装置固定于支撑装置上；所述机械臂固定装置包括竖直设置的支架和水平设置的悬臂；所述支架的一端固定在支撑装置上，另一端连接所述悬臂的一端，所述悬臂的另一端连接所述机械臂。
可选地，所述机械臂具有基关节，所述基关节相对于支撑装置的位置固定，且所述机械臂基坐标系设定在所述基关节处。
可选地，所述导航手术***还被配置为根据所述悬臂的长度以及悬臂相对于支撑装置的高度，获得所述机械臂基坐标系相对于支撑装置的位置。
可选地，所述导航手术***还包括手术台车，且所述机械臂安装于所述手术台车上，所述手术台车相对于支撑装置的位置固定；所述机械臂具有基关节，所述基关节相对于手术台车的位置固定，且所述机械臂基坐标系设定在所述基关节处。
可选地，所述基准坐标系设定在支撑装置上或手术台车上。
可选地，所述导航手术***还包括导航台车，所述导航跟踪设备安装在所述导航台车上。
可选地，所述导航手术***还包括导航支臂；所述导航跟踪设备通过所述导航支臂固定于支撑装置上，所述导航支臂具有若干自由度，以驱动所述导航支臂末端连接的所述导航跟踪设备运动，调整所述导航跟踪设备的位置和姿态。
可选地，所述导航支臂具有导航基关节，且所述导航基关节相对于所述支撑装置的位置固定，所述基准坐标系设定在所述支撑装置上或所述导航基关节处。
可选地，所述导航手术***还包括手术对象固定装置，用于将手术对象固定在支撑装置上，并使手术对象相对于支撑装置的位置固定；其中，所述导航***还包括用于在手术对象上标定多个特征点的靶标元件，所述导航手术***被配置为根据多个所述特征点，获得手术对象上目标区域相对于机械臂的位置。
可选地，所述导航跟踪设备为光学导航跟踪设备，且所述导航***还包括多个光学标记，每个所述光学标记能够被所述光学导航跟踪设备所识别；多个所述光学标记用于建立所述基准坐标系。
可选地，所述光学标记为至少三个并且设置在所述支撑装置上。。
可选地，所述光学标记为球形反光标记或贴纸型反光标记。
可选地，所述导航跟踪设备为磁导航跟踪设备，所述磁导航跟踪设备包括磁发射装置和磁定位装置，所述磁发射装置用于产生磁场，所述磁定位装置用于感应磁场而产生电信号，以用于建立所述基准坐标系。
可选地，所述磁定位装置包括感应线圈。
可选地，所述导航跟踪设备为惯性导航跟踪设备，所述导航***包括至少一个惯导标记物，所述惯导标记物能够被所述惯性导航跟踪设备所识别，以用于建立所述基准坐标系。
可选地，所述惯导标记物用于设置在手术对象上。
可选地，所述机械臂的末端安装有靶标，所述靶标用于跟踪机械臂末端的空间位置。
根据本发明的第二个方面，本发明提供的导航手术***的注册方法，所 述导航手术***包括机器人***以及与所述机器人***通信连接的导航***，所述机器人***包括机械臂，所述导航***包括导航跟踪设备，所述注册方法包括：
在导航手术***中建立能够被导航跟踪设备所识别的一基准坐标系，并使所述基准坐标系与支撑装置间的相对位置固定；
在机械臂上建立一机械臂基坐标系，并使所述机械臂基坐标系与支撑装置间的相对位置固定；
分别根据所述机械臂基坐标系与支撑装置的位置关系，以及所述基准坐标系与支撑装置的位置关系，确定所述导航跟踪设备与所述机械臂间的位置关系。
可选地，在建立所述机械臂基坐标系时，在机械臂的基关节上设置所述机械臂基坐标系，并使所述机械臂的基关节相对于支撑装置的位置固定。
可选地，在建立所述基准坐标系时，在手术台车、支撑装置或导航支臂的导航基关节上设置所述基准坐标系，并使所述手术台车或所述导航支臂的导航基关节相对于所述支撑装置的位置固定，使所述导航跟踪设备通过所述导航支臂固定于所述支撑装置上。
可选地，所述机械臂通过机械臂固定装置固定于支撑装置上；所述机械臂固定装置包括竖直设置的支架和水平设置的悬臂；所述支架的一端固定在支撑装置上，另一端连接所述悬臂的一端，所述悬臂的另一端连接所述机械臂；其中，根据所述悬臂的长度以及悬臂相对于支撑装置的高度，确定所述机械臂基坐标系相对于支撑装置的位置。
可选地，所述注册方法包括：
将所述导航跟踪设备通过导航支臂固定于支撑装置上，以通过所述导航支臂调整末端连接的所述导航跟踪设备的位置和姿态。
可选地，所述注册方法还包括：
根据相对于支撑装置的位置固定的手术对象上所设置的多个特征点，确定手术对象上目标区域相对于机械臂的位置。
可选地，所述注册方法还包括：
在所述机械臂的末端安装靶标，以通过所述靶标跟踪机械臂末端的空间位置。
可选地，利用光学导航跟踪设备、磁导航跟踪设备或惯性导航跟踪设备建立所述基准坐标系。
根据本发明的第三个方面，本发明提供的电子设备，包括处理器和存储器，所述存储器上存储有计算机程序，所述计算机程序被所述处理器执行时，进行任一项所述的注册方法。
根据本发明的第四个方面，本发明提供的用于导航手术***的支撑装置，所述支撑装置用于支撑患者，其中，所述支撑装置上设有多个定位装置，所述多个定位装置用于与导航跟踪设备通信连接。
可选地，在用于导航手术***的支撑装置中，所述定位装置包括光学反光装置。
可选地，在用于导航手术***的支撑装置中，所述支撑装置上设有用于固定机械臂的机械臂固定装置和/或用于固定所述导航跟踪设备的导航支臂。
在本发明提供的导航手术***及其注册方法中，通过将机械臂基坐标系的位置与支撑装置固定，以及将能够被导航跟踪设备所识别的基准坐标系的位置与支撑装置固定，可直接配准机械臂和导航跟踪设备间的相对位置，而无需在机械臂末端或机械臂基座上安装靶标进行机械臂注册，从而简化了手术流程，缩短了手术区域暴露时间，减小了患者受感染的几率。特别地，在手术过程中，由于不需要在机械臂上安装靶标，使得机械臂末端位置的采集不会受到机械臂运动过程中震动的影响，因此，确保了机械臂末端位置采集的可靠性和实时性。
附图说明
本发明的实施方法以及相关实施例的特征、性质和优势将通过结合下列附图进行描述，其中：
图1是传统的导航手术***的示意图；
图2是本发明实施例一的导航手术***的结构示意图；
图3是本发明实施例二的导航手术***沿第一角度的结构示意图；
图4是本发明实施例二的导航手术***沿第二角度的结构示意图；
图5是本发明实施例三的导航手术***的结构示意图；
图6是本发明实施例四的导航手术***的结构示意图；
图7是本发明实施例五的导航手术***的结构示意图；
图8是本发明实施例六的导航手术***的结构示意图；
图9a是与本发明实施例六相关的传统骨注册的示意图；
图9b是本发明实施例六中的骨注册的示意图；
图10是本发明实施例七的导航手术***的结构示意图；
图11是本发明实施例八的导航手术***的结构示意图；
图12是本发明实施例九的导航手术***的结构示意图；
图13是本发明实施例十的导航手术***的结构示意图；
图14是本发明实施例的导航手术***的注册流程图。
具体实施方式
以下将结合本发明实施例中的附图，对本发明优选实施例中的技术方案进行清楚、完整地描述。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
如在本发明中所使用的，单数形式“一”、“一个”以及“该”包括复数对象，除非内容另外明确指出外。如在本发明中所使用的，术语“或”通常是以包括“和/或”的含义而进行使用的，除非内容另外明确指出外。如在本发明中所使用的，术语“若干”通常是以包括“至少一个”的含义而进行使用的，除非内容另外明确指出外。如在本发明中所使用的，术语“至少两个”通常是以包括“两个或两个以上”的含义而进行使用的，除非内容另外明确指出外。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”、“第三”的特征可以明示或者隐含地包括一个或者至少两个该特征。
如背景技术，现有的导航手术***存在注册流程繁琐且额外手术时间长，以及位置跟踪的可靠性和实时性差的问题。针对该问题，结合图1进一步来说，传统的导航手术***100在患者110的手术区域105上进行操作，其具体包括机器人***115以及导航***165。机器人***115包括机械臂120。在实际手术时，机械臂120在其远端130处设置有末端执行器或手术器械125。手术器械125可由机械臂120定位。
机械臂120包括多个关节135，其允许手术器械125定位在给定手术区域105附近或内部的任何期望位置。机器人***115还包括用于操作机械臂120和手术器械125的计算机***。计算机***包括位于控制台车140内的控制器，以及位于控制台车140上的人机接口设备145，例如显示器，用于为外科医生提供在手术期间使用的图像。计算机***与导航***165通信，导航***165可以监视固定到感兴趣对象的多个跟踪元件，例如机械臂末端的光学靶标170，以跟踪手术区域105内的多个对象的位置。导航***165用于与光学靶标170互动，在手术区域105内创建虚拟三维坐标系，用于跟踪患者解剖结构、手术器械或机器人***115的一部分。光学靶标170放置在机械臂120或手术器械125上，以跟踪虚拟三维坐标系的位置，进而提供位置数据，例如患者位置、骨骼位置、关节位置、机械臂位置等。机械臂120固定在控制台车140上。
在手术过程中，导航***165实时跟踪机械臂末端器械或手术工具的空间位置，并在显示器上显示。为了达到此目的，通用的做法是，在机械臂末端或者是机械臂的基座上安装靶标，通过导航***165跟踪靶标，实现机械臂末端/手术器械的实时跟踪。但是在实际使用过程中，机械臂的震动会导致机械臂上的靶标也发生震动，较大地影响了跟踪的可靠性和实时性。
基于此，本发明提出了一种导航手术***以及该导航手术***的注册方法，无需在机械臂末端或机械臂基座上安装靶标，即可实现导航***实时跟踪机械臂末端位置的目的，从而提高机械臂末端位置跟踪的可靠性和实时性，同时也省去机械臂注册流程，缩短额外的手术时间，减小患者受感染的几率。
具体的，本发明所提供的导航手术***包括通信连接的机器人***和导 航***；所述机器人***包括机械臂，所述导航***包括导航跟踪设备。所述导航跟踪设备包括光学导航跟踪设备、磁导航跟踪设备或惯性导航跟踪设备。该导航手术***的注册方法包括：在导航手术***中建立能够被导航跟踪设备所识别的基准坐标系，并固定所述基准坐标系与用于支撑患者的支撑装置，例如病床间的相对位置；同时在机械臂上建立机械臂基坐标系，并固定所述机械臂基坐标系与支撑装置间的相对位置；进而分别根据所述机械臂基坐标系与支撑装置的位置关系，以及所述基准坐标系与支撑装置的位置关系，确定所述导航跟踪设备与所述机械臂间的位置关系。这样做，即可省去在机械臂末端或基座上安装靶标(例如光学反射装置或者光学跟踪装置)进行机械臂注册的过程，又可省去拆装靶标的过程，节省手术时间。并且在手术过程中，只要机器人***实时将机械臂的位置发送给导航***，即可实现导航***实时跟踪机械臂末端器械或手术工具的空间位置的目的，并在显示器上进行显示。
以下结合附图和若干实施例对本发明的导航手术***及其注册的实现方式作进一步描述。
实施例一
图2为本发明实施例一的导航手术***200的结构示意图。如图2所示，本实施例提供一种导航手术***200，其包括通信连接的机器人***和导航***。所述机器人***包括机械臂2，所述机械臂2的末端用于安装手术器械，手术器械可以是适于机器人***使用的任何手术器械，例如钳夹、翻边装置、铰孔装置、冲击器装置或肱骨头撞击器等。
所述导航***包括光学导航跟踪设备4和定位装置，例如多个光学标记，所述光学标记能够被光学导航跟踪设备4所识别及跟踪。本实施例中，多个所述光学标记101安装在支撑装置1(如病床)上，且这些光学标记相对于支撑装置1的位置是固定并已知的。由此，本发明的导航***只要根据多个光学标记，即可根据支撑装置1建立一个基准坐标系，使得基准坐标系相对于支撑装置1的位置是固定且已知的。进一步，多个所述光学标记优选在支撑装置1上呈矩阵分布，以简化计算过程。在一些实施例中，多个所述光学标 记以固定间距设置在支撑装置1上。更进一步，所述光学标记的数量为至少三个，以便根据至少三个光学标记建立一个空间直角坐标系，即基准坐标系为空间直角坐标系。本实施例中，光学标记在支撑装置1上的位置不作限定，只要光学标记在支撑装置1上的位置是固定的即可，且光学标记相对于支撑装置1的安装位置也是术前已知的，也即基准坐标系在支撑装置上的位置是已知的。进一步，光学标记可以是球形反光标记或贴纸型反光标记。
本实施例中，所述机械臂2通过机械臂固定装置5固定在支撑装置1上，且机械臂固定装置5相对于支撑装置1的位置固定且已知，即机械臂固定装置5相对于支撑装置1的位置是固定的，已决定的和已获得的。所述机械臂固定装置5具体包括竖直设置的支架51和水平设置的悬臂52；所述支架51的一端固定在支撑装置1上，另一端连接悬臂52的一端，所述悬臂52的另一端连接机械臂2。本实施例中，所述机械臂2具有基座，所述基座固定在悬臂52上。所述机械臂2还具有基关节21，直接可转动地连接在所述基座上。本发明对机械臂2的构型不作限定，例如机械臂2由多个转动关节依次串联而成，且任意相邻两个转动关节之间通过关节臂连接。
本实施例中，所述机器人***具有建立在机械臂2上的机械臂基坐标系，所述机械臂基坐标系相对于支撑装置1的位置是固定的，也即，机械臂基坐标系相对于基准坐标系的位置保持固定且在术前是已知的，这样便实现了机械臂2和光学导航跟踪设备4之间位置关系的配准，使光学导航跟踪设备4能够实时跟踪机械臂的位置。
进一步的，所述机械臂基坐标系优选设定在机械臂2的基关节21处，且机械臂2的基关节21相对于支撑装置1的位置固定且已知。进一步在本实施例中，所述导航手术***200则根据悬臂52的长度以及悬臂52相对于支撑装置1的高度，获得机械臂2的基关节21相对于支撑装置1的位置，即可确定机械臂基坐标系相对于支撑装置的位置。
与传统的机械臂注册方法相比，本发明的导航手术***200无需在机械臂末端上安装靶标，即可配准机械臂和光学导航跟踪设备间的位置关系，故可省去拆装靶标的过程，因此，缩短了手术时间，减小了手术区域的暴露时 间，降低了患者受感染的几率。而且这样的注册方式，在手术过程中，机械臂的位置不会受到机械臂运动时所产生的震动影响，因此，机械臂位置的准确性高，可靠性和实时性好，能够提高手术操作精度。进而仅需要进行骨骼注册，使光学导航跟踪设备4得到患者骨骼相对于支撑装置1的位置，光学导航跟踪设备4再将骨骼相对于支撑装置1的位置信息发送给机器人***，机器人***根据骨骼的位置信息，即可知晓机械臂2相对于患者骨骼的位置，即可控制机械臂2进行截骨定位操作。本实施例中，骨骼注册可采用传统的注册方法，如医生手持靶标元件在患者骨头上选择感兴趣的注册点，导航跟踪设备4获取根据靶标元件选择的骨注册点坐标信息，将骨骼实物与导航中的骨骼模型匹配起来，并将该坐标信息反馈至控制器中，控制器以此可确定骨骼所在位置。所述靶标元件上设有与所述导航跟踪设备通信的装置，例如反光球。
在一些实施例中，在机械臂2末端可安装光学靶标，以跟踪机械臂末端的空间位置，这样可实现机械臂位置的冗余跟踪，提高手术***的可靠性。此外，所述基准坐标系优选设置在支撑装置1的边角处，这样可以避免基准坐标系被医生或护士所遮挡，确保导航的有效性。
所述导航手术***200还包括导航台车3，所述光学导航跟踪设备4直接安装在导航台车3上。进一步，所述导航***通过线缆与机器人***通讯连接。例如导航***包括导航控制器，设置在导航台车3内。机器人***包括机器人控制器，设置在支撑装置1的底部。所述导航控制器与机器人控制器通过线缆实现有线通信。导航台车3上还可设置显示器，以实时显示机械臂的位置或其他信息。
应知晓，在实际手术过程中，所述机械臂2的末端需要连接手术工具，所述手术工具包括但不限于针对关节外科的手术工具，还可以是脊柱外科的手术工具，或者是脑外科的手术工具等，而本发明中，所有实施例以关节置换手术工具为例进行说明，但不应以此作为对本发明的限定。
综上，通过应用本实施例的导航手术***200，只需要机器人***中，例如各个关节的位置传感器，实时地将机械臂末端的位置和姿态反馈给光学导 航跟踪设备4即可，光学导航跟踪设备4即可知晓机械臂末端的空间位置并进行显示，以此达到实时地跟踪末端器械或手术工具的位置的目的。
实施例二
图3和图4分别为本发明实施例二提供的导航手术***300在不同方位时的结构示意图。本实施例中提供的导航手术***300与实施例一的导航手术***200的结构基本相同，以下主要针对两者的不同点进行描述。
如图3和图4所示，本实施例的导航手术***300还包括手术台车6，且机械臂2直接固定在手术台车6上，且手术台车6相对于支撑装置1的位置是固定且已知的。基于相同的原理，由于机械臂2的基关节21相对于手术台车1的位置是固定且已知的，故而机械臂基坐标系相对于支撑装置1的位置也是固定且已知的，因此，机械臂基坐标系与基准坐标系的位置关系也是已知的。
另外的不同是，本实施例的机械臂2的基座直接固定在手术台车6上，因此取消了机械臂固定装置5。此外，机器人控制器可设置在手术台车6内，并与导航台车3内的导航控制器通过线缆实现有线通信，在一些实施方式中，机器人控制器与导航控制器通过无线通信。
实施例三
图5为本发明实施例三提供的导航手术***400的结构示意图。本实施例中提供的导航手术***400与实施例二的导航手术***300的结构基本相同，以下主要针对两者的不同点进行描述。
本实施例的基准坐标系不是建立在支撑装置1上，而是建立在手术台车6上。如图5所示，在手术台车6上设置一个光学靶标7，一个光学靶标7上通常有至少三个反光球，便于根据多个反光球建立基准坐标系。由于手术台车6相对于支撑装置1的位置是固定且已知的，故而基准坐标系相对于支撑装置1的位置也是固定且已知的。同理，由于机械臂基坐标系相对于手术台车6的位置也是固定且已知的，故而机械臂基座标系与基准坐标系的位置关系也是固定且已知的，使得机械臂2和光学导航跟踪设备4间的位置关系也是已知的。
实施例四
图6为本发明实施例四提供的导航手术***500的结构示意图。本实施例中提供的导航手术***500与实施例一的导航手术***200的结构基本相同，以下主要针对两者的不同点进行描述。
如图6所示，光学导航跟踪设备4通过导航支臂8固定在支撑装置1上，这样便于使用者调节光学导航跟踪设备4的位置和姿态，提升手术效率，并且导航台车3可以远离支撑装置1，增加医生的活动空间。具体的，导航支臂8也是机械臂构型并具有若干自由度，在其末端连接光学导航跟踪设备4，以驱动光学导航跟踪设备4运动，调整光学导航跟踪设备4的位置和姿态。本实施例中，由于支撑装置1上设置有能够被光学导航跟踪设备4所识别及跟踪的光学标记，而机械臂2的基关节21的位置相对于支撑装置1是固定的，类似的，导航支臂8的导航基关节81相对于支撑装置1的位置是已知的，故机械臂2相对于光学导航跟踪设备4的位置是已知的，不需要进行机械臂注册，仅需要通过骨骼注册，得到骨骼相对于支撑装置1的位置，导航***即可将骨骼相对于支撑装置1的位置发送给机器人***，机械臂2再进行截骨定位操作。
此外，本实施例的导航台车3内依然安装导航控制器，并通过线缆与支撑装置1底部的机器人控制器通讯连接。另外，基准坐标系既可以建立在支撑装置1上，也可以建立在导航支臂8的导航基关节81处。
实施例五
图7为本发明实施例五提供的导航手术***600的结构示意图。本实施例中提供的导航手术***600与实施例四的导航手术***500的结构基本相同，以下主要针对两者的不同点进行描述。
如图7所示，光学导航跟踪设备4通过导航支臂8固定在悬臂52上。本实施例中，机械臂2设置在悬臂52的下方，光学导航跟踪设备4设置在悬臂52的上方。此方式中，同样便于使用者调节光学导航跟踪设备4的位置和姿态，提升手术效率，并且导航台车3可以远离支撑装置1，增加医生的活动空间。
实施例六
图8为本发明实施例六提供的导航手术***700的结构示意图。与实施例四的导航手术***500所区别的是，本实施例的导航手术***700无需进行骨骼注册，只需要预先标定骨骼相对于支撑装置的位置即可。
具体的，本实施例的导航手术***700还包括手术对象固定装置(未标记)，用于将手术对象，如患者下肢9固定在支撑装置1上，并使患者下肢9相对于支撑装置1的位置固定。并且所述导航手术***700还包括用于在患者下肢9上标定多个特征点的靶标元件，使导航手术***700根据多个所述特征点，获得患者下肢上手术区域(即目标区域)相对于机械臂的位置。因此，无需在患者下肢上安装额外的光学靶标，这样也省去了拆装光学靶标的过程，进一步缩短了手术时间。
例如图9a所示，在传统的骨骼注册过程中，需要在患者下肢9上安装光学靶标a进行骨骼注册。相反的，如图9b所示，本实施例中，无需在患者下肢9上安装光学靶标，只需要在患者下肢上利用靶标元件标定多个特征点，即可建立机械臂相对于骨骼的位置，因此，操作更为方便，进一步缩短了额外手术暴露时间。
实施例七
图10为本发明实施例七的导航手术***800的结构示意图。本实施例中提供的导航手术***800与实施例一的导航手术***200的结构基本相同，以下主要针对两者的不同点进行描述。
本实施例中，由磁导航跟踪设备11替代光学导航跟踪设备4。进一步，所述磁导航跟踪设备11包括磁发射装置和磁定位装置，所述磁发射装置用于产生磁场，所述磁定位装置用于感应磁场并产生感应信号(如电压或电流信号)，从而导航***根据所述磁定位装置的感应信号建立基准坐标系。本实施例中，所述磁发射装置设置在支撑装置1的底部，同时支撑装置1上的光学标记被替代为至少一个磁定位装置(未图示)。也即，通过磁定位装置在支撑装置上建立基准坐标系。进一步，磁定位装置包括至少一个感应线圈。类似的，由于磁定位装置能够被磁导航跟踪设备11识别，且机械臂相对于支撑装 置1的位置固定且已知，故而机械臂相对于磁导航跟踪设备11的位置也是已知的。相较于光学导航跟踪设备，该种模式不会受到手术过程中医生或者护士对于光学导航跟踪设备的遮挡导致导航失效的情况，提高了导航手术***的可靠性。
实施例八
图11为本发明实施例八提供的导航手术***900的结构示意图。本实施例中提供的导航手术***900与实施例七的导航手术***800的结构基本相同，以下主要针对两者的不同点进行描述。
如图11所示，磁导航跟踪设备11通过导航支臂8固定在支撑装置1上，且导航支臂8的导航基关节81相对于支撑装置1的位置是固定且已知的。此外，磁定位装置可以设置在支撑装置1上，也可以设置在导航支臂8的导航基关节81处，也可以设置在机械臂2的基关节21处。
实施例九
图12为本发明实施例九提供的导航手术***1000的结构示意图。本实施例中提供的导航手术***1000与实施例一的导航手术***200的结构基本相同，以下主要针对两者的不同点进行描述。
如图12所示，惯性导航跟踪设备12代替光学导航跟踪设备4。进一步，所述惯性导航跟踪设备12包括惯导信息处理单元(相当于接收器)，可放置在支撑装置的底部。同时，所述导航***还包括至少一个惯导标记物13，所述惯导标记物13能够被所述惯导信息处理单元所识别，也即惯导标记物13相对于支撑装置1的位置是已知且固定的。本实施例对惯导标记物13的位置不作限定，例如可以设置在患者下肢9上。因此，导航***可以根据惯导标记物13建立基准坐标系。
相较于光学导航跟踪设备，惯性导航跟踪设备的使用避免了导航跟踪设备在手术过程中受到医生或者护士的遮挡，从而避免了导航失效的问题。此外，实际手术过程中，医生可通过惯导靶标笔(靶标元件)14完成骨骼注册。另外，惯导信息处理单元可通过线缆与惯导标记物13通讯连接，且惯导信息处理单元可通过线缆与导航台车3内的导航控制器通讯连接。
在其他实施例中，如图13所示，惯导信息处理单元还可以设置在导航台车3内，且惯导标记物13与惯导信息处理单元无线连接，如通过蓝牙S实现无线传输。
在上述各个实施例中，支撑装置上的标记不限于光学反光标记、磁定位装置、惯导标记物，还可以是其他能够被导航跟踪设备所检测的方式，本发明对此不作限定。此外，光学标记在支撑装置上的数量以及排布方式也不作限定，只要在手术过程中，任意时刻至少有部分标记不被病人或医生、护士等遮挡，可以被导航跟踪设备所采集即可。
本发明实施例还提供一种电子设备，包括处理器和存储器，所述存储器上存储有计算机程序，所述计算机程序被所述处理器执行时，进行图14所述的注册方法。
如图14所示，本发明实施例还提供一种导航手术***的注册方法，包括：
步骤S1：在导航手术***中建立能够被导航跟踪设备所识别的基准坐标系，并使所述基准坐标系与支撑装置间的相对位置固定；
步骤S2：在机械臂上建立机械臂基坐标系，并使所述机械臂基坐标系与支撑装置间的相对位置固定；
步骤S3：分别根据所述机械臂基坐标系与支撑装置的位置关系，以及所述基准坐标系与支撑装置的位置关系，确定所述导航跟踪设备与所述机械臂间的位置关系。
进一步，在建立所述机械臂基坐标系时，在机械臂的基关节上设置所述机械臂基坐标系，并使所述机械臂的基关节相对于支撑装置的位置固定。
进一步，在建立所述基准坐标系时，在手术台车、支撑装置或导航支臂的导航基关节上设置所述基准坐标系，并使所述手术台车或所述导航支臂的导航基关节相对于所述支撑装置的位置固定，使所述导航跟踪设备通过所述导航支臂固定于所述支撑装置上。
进一步，所述注册方法包括：将所述导航跟踪设备通过导航支臂固定于支撑装置上，以通过所述导航支臂调整末端连接的所述导航跟踪设备的位置和姿态。
进一步，所述注册方法包括：根据相对于支撑装置的位置固定的手术对象上所设置的多个特征点，确定手术对象上目标区域相对于机械臂的位置。
综上，根据本发明优选实施例提供的导航手术***，通过标定机械臂基坐标系与能够被导航跟踪设备所识别的基准坐标系的位置关系，可直接实现机械臂和导航跟踪设备间位置的配准，而无需通过安装光学靶标的方式进行机械臂注册，因此，省去了机械臂注册的流程，缩短了手术时间，降低了手术区域长时间暴露而使患者受感染的风险。而且在手术过程中，由于不需要在机械臂上安装光学靶标，使得机械臂末端位置的采集不会受到机械臂运动过程中震动的影响，因此，机械臂末端位置采集的可靠性和实时性好，位置采集精度更高。
上述描述仅是对本发明优选实施例的描述，并非对本发明范围的任何限定，本发明领域的普通技术人员根据上述揭示内容做的任何变更、修饰，均属于本发明的保护范围。

Claims (28)

  1. 一种导航手术***，其特征在于，包括机器人***以及与所述机器人***通信连接的导航***；所述机器人***包括机械臂，所述导航***包括导航跟踪设备；
    所述机器人***具有建立在所述机械臂上的一机械臂基坐标系，所述机械臂基坐标系被配置为相对于支撑装置的位置固定；
    所述导航***具有能够被所述导航跟踪设备所识别的一基准坐标系，所述基准坐标系被配置为相对于所述支撑装置的位置固定；
    所述导航手术***被配置为分别根据所述机械臂基坐标系与所述支撑装置的位置关系，以及所述基准坐标系与所述支撑装置的位置关系，确定所述机械臂和所述导航跟踪设备间的位置关系。
  2. 根据权利要求1所述的导航手术***，其特征在于，还包括机械臂固定装置，所述机械臂通过所述机械臂固定装置固定于所述支撑装置上；所述机械臂固定装置包括竖直设置的支架和水平设置的悬臂；所述支架的一端固定在所述支撑装置上，另一端连接所述悬臂的一端，所述悬臂的另一端连接所述机械臂。
  3. 根据权利要求2所述的导航手术***，其特征在于，所述机械臂具有基关节，所述基关节相对于所述支撑装置的位置固定，且所述机械臂基坐标系设定在所述基关节处。
  4. 根据权利要求3所述的导航手术***，其特征在于，所述导航手术***被配置为根据所述悬臂的长度以及所述悬臂相对于所述支撑装置的高度，获得所述机械臂基坐标系相对于所述支撑装置的位置。
  5. 根据权利要求1所述的导航手术***，其特征在于，还包括手术台车，且所述机械臂安装于所述手术台车上，所述手术台车相对于所述支撑装置的位置固定；所述机械臂具有基关节，所述基关节相对于所述手术台车的位置固定，且所述机械臂基坐标系设定在所述基关节处。
  6. 根据权利要求5所述的导航手术***，其特征在于，所述基准坐标系 设定在所述支撑装置上或手术台车上。
  7. 根据权利要求1所述的导航手术***，其特征在于，还包括导航支臂；所述导航跟踪设备通过所述导航支臂固定于所述支撑装置上，所述导航支臂具有若干自由度，以驱动所述导航支臂末端连接的所述导航跟踪设备运动，调整所述导航跟踪设备的位置和姿态。
  8. 根据权利要求7所述的导航手术***，其特征在于，所述导航支臂具有导航基关节，且所述导航基关节相对于所述支撑装置的位置固定，所述基准坐标系设定在所述支撑装置上或所述导航基关节处。
  9. 根据权利要求1所述的导航手术***，其特征在于，还包括手术对象固定装置，用于将手术对象固定在所述支撑装置上，并使手术对象相对于所述支撑装置的位置固定；其中，所述导航***还包括用于在手术对象上标定多个特征点的靶标元件，所述导航手术***被配置为根据多个所述特征点，获得手术对象上目标区域相对于机械臂的位置。
  10. 根据权利要求1所述的导航手术***，其特征在于，所述导航跟踪设备为光学导航跟踪设备，且所述导航***还包括多个光学标记，每个所述光学标记能够被所述光学导航跟踪设备所识别；多个所述光学标记用于建立所述基准坐标系。
  11. 根据权利要求10所述的导航手术***，其特征在于，所述光学标记至少三个并且设置在所述支撑装置上。
  12. 根据权利要求10所述的导航手术***，其特征在于，所述光学标记为球形反光标记或贴纸型反光标记。
  13. 根据权利要求1所述的导航手术***，其特征在于，所述导航跟踪设备为磁导航跟踪设备，所述磁导航跟踪设备包括磁发射装置和磁定位装置，所述磁发射装置用于产生磁场，所述磁定位装置用于感应磁场而产生电信号，以用于建立所述基准坐标系。
  14. 根据权利要求13所述的导航手术***，其特征在于，所述磁定位装置包括感应线圈。
  15. 根据权利要求1所述的导航手术***，其特征在于，所述导航跟踪 设备为惯性导航跟踪设备，所述导航***包括至少一个惯导标记物，所述惯导标记物能够被所述惯性导航跟踪设备所识别，以用于建立所述基准坐标系。
  16. 根据权利要求15所述的导航手术***，其特征在于，所述惯导标记物用于设置在手术对象上。
  17. 根据权利要求1所述的导航手术***，其特征在于，所述机械臂的末端安装有靶标，所述靶标用于跟踪机械臂末端的空间位置。
  18. 一种导航手术***的注册方法，所述导航手术***包括机器人***以及与所述机器人***通信连接的导航***，所述机器人***包括机械臂，所述导航***包括导航跟踪设备，其特征在于，所述注册方法包括：
    在导航手术***中建立能够被导航跟踪设备所识别的一基准坐标系，并使所述基准坐标系与支撑装置间的相对位置固定；
    在机械臂上建立一机械臂基坐标系，并使所述机械臂基坐标系与所述支撑装置间的相对位置固定；
    分别根据所述机械臂基坐标系与所述支撑装置的位置关系，以及所述基准坐标系与所述支撑装置的位置关系，确定所述导航跟踪设备与所述机械臂间的位置关系。
  19. 根据权利要求18所述的导航手术***的注册方法，其特征在于，在建立所述机械臂基坐标系时，在机械臂的基关节上设置所述机械臂基坐标系，并使所述机械臂的基关节相对于所述支撑装置的位置固定。
  20. 根据权利要求19所述的导航手术***的注册方法，其特征在于，在建立所述基准坐标系时，在手术台车、所述支撑装置或导航支臂的导航基关节上设置所述基准坐标系，并使所述手术台车或所述导航支臂的导航基关节相对于所述支撑装置的位置固定，使所述导航跟踪设备通过所述导航支臂固定于所述支撑装置上。
  21. 根据权利要求20所述的导航手术***的注册方法，其特征在于，所述机械臂通过机械臂固定装置固定于所述支撑装置上；所述机械臂固定装置包括竖直设置的支架和水平设置的悬臂；所述支架的一端固定在所述支撑装置上，另一端连接所述悬臂的一端，所述悬臂的另一端连接所述机械臂；其 中，根据所述悬臂的长度以及悬臂相对于所述支撑装置的高度，确定所述机械臂基坐标系相对于所述支撑装置的位置。
  22. 根据权利要求18所述的导航手术***的注册方法，其特征在于，还包括：
    将所述导航跟踪设备通过导航支臂固定于所述支撑装置上，以通过所述导航支臂调整末端连接的所述导航跟踪设备的位置和姿态。
  23. 根据权利要求18所述的导航手术***的注册方法，其特征在于，还包括：
    根据相对于所述支撑装置的位置固定的手术对象上所设置的多个特征点，确定所述手术对象上的目标区域相对于所述机械臂的位置。
  24. 根据权利要求18所述的导航手术***的注册方法，其特征在于，利用光学导航跟踪设备、磁导航跟踪设备或惯性导航跟踪设备识别建立所述基准坐标系。
  25. 一种电子设备，其特征在于，包括处理器和存储器，所述存储器上存储有计算机程序，所述计算机程序被所述处理器执行时，进行权利要求18至24任一项所述的注册方法。
  26. 一种用于导航手术***的支撑装置，所述支撑装置用于支撑患者，其特征在于：所述支撑装置上设有多个定位装置，所述多个定位装置用于与导航跟踪设备通信连接。
  27. 根据权利要求26所述的用于导航手术***的支撑装置，所述定位装置包括光学反光装置。
  28. 根据权利要求26所述的用于导航手术***的支撑装置，所述支撑装置上设有用于固定机械臂的机械臂固定装置和/或用于固定所述导航跟踪设备的导航支臂。
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