Robot-assisted automatic introduction method and device for trocar

A robot-assisted automatic introduction method for a trocar, comprising:

• acquiring a dataset of the trocar, and training through a preset U-Net to acquire a first model;
• detecting, by the first model, a position of the trocar in a target image, and outputting position information of the trocar that meets a preset condition;
• parameterizing, according to the position information of the trocar that meets the preset condition, a rotation angle of the trocar, and acquiring a rotation matrix of the trocar;
• and
• acquiring, according to the rotation matrix of the trocar, an orientation of the trocar, and controlling, according to the orientation of the trocar, an instrument at an end of a robot to introduce the trocar;
• wherein before parameterizing the rotation angle of the trocar, the robot-assisted automatic introduction method further comprises:
• a step of processing the position information of the trocar that meets the preset condition, comprising:
• calculating a median value of the position information in every seven consecutive image frames, calculating a Euclidean distance between the median value and the position information in each of the seven consecutive image frames, and averaging position information with the Euclidean distance less than or equal to a quarter of a standard deviation to acquire final position information of the trocar.

A robot-assisted automatic introduction device for a trocar, comprising a training module, a detection module, a rotation matrix module, and an introduction module, wherein

• the training module is configured to acquire a dataset of the trocar, and train through a preset U-Net to acquire a first model;
• the detection module is configured to detect, by the first model, a position of the trocar in a target image, and output position information of the trocar that meets a preset condition;
• the rotation matrix module is configured to parameterize, according to the position information of the trocar that meets the preset condition, a rotation angle of the trocar, and acquire a rotation matrix of the trocar;
• and
• the introduction module is configured to acquire, according to the rotation matrix of the trocar, an orientation of the trocar, and control, according to the orientation of the trocar, an instrument at an end of a robot to introduce the trocar;
• wherein the detection module is configured to output the position information of the trocar that meets the preset condition, wherein
• the detection module is configured to output the position information of the trocar that meets the following condition:
• pred
• ⁡
• (
• x
• ,
• y
• )
• ⩾
• 0.8
• *
• max
• ⁡
• (
• pred
• )
• ;
• wherein (x,y) denotes a pixel position of the trocar;
• pred(x,y) denotes a confidence of the pixel position (x,y) being classified as the trocar;
• and max(pred) denotes an overall maximum value of an image output by the U-Net.