Surgical robot navigation and positioning system and measurement viewing angle multi-objective optimization method

Patent metadata

Field	Value
Publication number	US-12446980-B2
Application number	US-202218268315-A
Country	US
Kind code	B2
Filing date	May 24, 2022
Priority date	Jul 7, 2021
Publication date	Oct 21, 2025
Grant date	Oct 21, 2025

Abstract

A surgical robot navigation and positioning system, and a measurement viewing angle multi-objective optimization method includes a surgical operation planning system, a control host for data processing and robot control, a series robot having any degree of freedom, a positioning sensor and its adaptive positioning tools ( 4 ), and an environmental perception sensor. The measurement viewing angle multi-objective optimization method comprises: obtaining information on and positions of all positioning tools ( 4 ) of each link in a surgery process, and establishing a multi-objective minimization problem based on a decision variable; establishing a three-dimensional Cartesian coordinate system for each positioning tool ( 4 ); defining a non-interference margin function between the positioning tools ( 4 ), and at least two objective functions of minimization optimization; and setting constraint conditions to minimize the at least two objective functions at the same time.

First claim

What is claimed is:

1. A measurement viewing angle multi-objective optimization method for a surgical robot navigation and positioning system, wherein the method obtains a number, a serial number and a position of required positioning tools of each link in a surgical process through a surgical operation planning system, and establishes a multi-objective minimization problem based on a decision variable x:
x=[q 1 ,q 2 ,q 3 , . . . ,q N ]  (Formula 1)

where q 1 , q 2 , q 3 , . . . , q N are joint variables; N is the number of the joint variables; the decision variable x denotes a vector consisted of N joint variables of a robot, and the value range is the joint value range Q achievable by each joint of the robot, that is, x∈Q;
the method comprises the following steps:
Step 1, establishing a three-dimensional Cartesian coordinate system for each positioning tool;
Step 2, defining at least two objective functions f 1 and f 2 of minimization optimization;
Step 3, setting constraint conditions to minimize the at least two objective functions f 1 and f 2 at the same time;
wherein Step 1 comprises the following steps:
Step 1.1, designing a center of each positioning tool with a specific shape feature, and taking an intersection point between a feature axis and a plane where a centroid of a positioning part is located as a coordinate origin, wherein a shape feature is at least a round hole, a hemisphere, a boss and a cone; taking the coordinate origin as the center of a sphere, and constructing a minimum circumscribed ball enveloping K positioning parts on the positioning tool for each positioning tool, wherein the radius of the minimum circumscribed ball is l i ;
Step 1.2, taking a normal direction of the plane where the centroids of K positioning parts are located as a z axis direction, wherein the direction towards the side where the K positioning parts are attached is a positive direction of the z axis; establishing the three-dimensional Cartesian coordinate system by taking a direction perpendicular to the z axis and pointing to the positioning part farthest from the coordinate origin as the positive direction of the x axis;
Step 1.3, denoting a set of all positioning tools as S, in which the center of the coordinate system of the i-th positioning tool is M i , that is, M i ∈S;
in which at least two objective functions f 1 and f 2 of minimization optimization in Step 2 are defined as follows:
f 1 =max m ∥{right arrow over ( NM m )}∥  (Formula 2)

f 2 =min j,k∈S −O min ( j,k )  (Formula 3)

where ∥{right arrow over (NM m )}∥ denotes a distance between the coordinate origin of the m-th positioning tool and the coordinate origin of a positioning sensor; f 1 denotes a maximum distance between the coordinate origin of all positioning tools and the coordinate origin of the positioning sensor; O min (j, k) denotes a smaller non-interference margin function in a camera coordinates of the positioning sensor for a given pair of positioning tools j and k; min j,k∈S O min (j, k) denotes a minimum non-interference margin function value among the binary combinations of all the positioning tools measured in all the cameras of the positioning sensor under the pose of the robot determined by q;
calculating the smaller non-interference margin function O min (j, k) by the following formula:

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Assignees

• Univ Nankai
• Shenzhen Research Institute Of Nankai Univ

Inventors

• Qin Yanding
• Han Jianda
• Wang Hongpeng
• You Yugen
• Song Zhichao
• Meng Yiyang

Classifications

• G16H40/63

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