CN108042202A - Surgery mechanical arm alignment system - Google Patents
Surgery mechanical arm alignment system Download PDFInfo
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- CN108042202A CN108042202A CN201711280857.3A CN201711280857A CN108042202A CN 108042202 A CN108042202 A CN 108042202A CN 201711280857 A CN201711280857 A CN 201711280857A CN 108042202 A CN108042202 A CN 108042202A
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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
- A61B34/20—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
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
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Abstract
The present invention proposes a kind of surgery mechanical arm alignment system, including：Surgery mechanical arm has been relatively fixed A group nominal volumes；Fluoroscopic apparatus has been relatively fixed B group nominal volumes, target object is shot to form at least two fluoroscopy images from least two angle pins；Processing unit, receive fluoroscopy images, selected target subpoint is distinguished according to external input instruction in the picture, according to the position relationship and the position relationship at least between the image receiving plane of target projection point of target projection point and light source, it determines spatial position of the target actual point compared with B group nominal volumes, generates actual point spatial position data；Space multistory positioning device forms the three-dimensional relative position relation of A groups nominal volume and B group nominal volumes；Control device is moved to the spatial position of target actual point according to three-dimensional relative position relation and actual point spatial position data control surgery mechanical arm.The surgery mechanical arm alignment system of the present invention improves positioning the degree of automation, reduces operation complexity, accurate positioning.
Description
Technical field
The present invention relates to medical treatment device technical field more particularly to a kind of surgery mechanical arm alignment systems.
Background technology
In surgical operation, the advanced technologies such as operation tool are held using surgery mechanical arm to realize operation, such as surgical engine
Tool arm end installation scalpel is operated on or is installed electric drill and carries out boring bone etc..Especially in orthopaedics bores osseous surgery, electric drill bores
Larger power can be generated between head and bone and unstable, thus is needed by surgery mechanical arm.Either operation consent, surgery mechanical
Arm need to be moved to the patient part of patient still in operation, the feed as needed of surgery mechanical arm or be carried out into track is bored
It is mobile, surgery mechanical arm is required for position.
At present, realize that the mode of location of operation is as follows：1) patient with calibration element is demarcated first, then carries out CT scan and build
Vertical threedimensional model carries out surgery planning according to modeling gained model, is operated again after the completion of planning；Due to need into
Row CT scan adds modeling to carry out preoperative planning, and the time complicated for operation is longer, and radiation is also big, in addition also needs to add calibration element to patient,
And it navigates in art there is still a need for being realized with calibration element, the position that calibration element occupies can influence operation and carry out, and then position too far
Precision is not high；2) by operation tool, the development in fluoroscopy images is instructed to move in itself, until navigating to operation tool extremely
The patient part of patient, the position fixing process time is longer, and radiation is larger, can not realize automation positioning, and due to operation tool
The development area of itself is larger, and easily positioning is inaccurate.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of surgery mechanical arm alignment system, improve positioning automation journey
Degree reduces operation complexity, accurate positioning.
To solve the above problems, the present invention proposes a kind of surgery mechanical arm alignment system, including：
Surgery mechanical arm has been relatively fixed A group nominal volumes thereon；
Fluoroscopic apparatus has been relatively fixed B group nominal volumes thereon, target object is shot from least two angle pins to be formed to
Few two fluoroscopy images；
Processing unit receives the fluoroscopy images of the fluoroscopic apparatus, saturating described at least two according to external input instruction
Selected target subpoint is distinguished in visible image, the target projection point in each fluoroscopy images is the light source under corresponding shooting direction
By the point in the actual spot projection of same target to the correspondence image receiving plane on target object, according at least two target projections
Point and the position relationship between the position relationship of light source and the image receiving plane of at least two target projections point determine
The same target actual point generates actual point spatial position data compared with the spatial position of B group nominal volumes；
Space multistory positioning device to capture the spatial position of the A groups nominal volume and the B groups nominal volume, forms A
The three-dimensional relative position relation of group nominal volume and B group nominal volumes；
Control device connects the processing unit and space multistory positioning device, receives the actual point of the processing unit
The three-dimensional relative position relation of spatial position data and the space multistory positioning device, according to the three-dimensional relative position relation
The spatial position of the target actual point is moved to the actual point spatial position data control surgery mechanical arm.
According to one embodiment of present invention, the processing unit includes：
Image acquisition and processing module to receive the two of the fluoroscopic apparatus fluoroscopy images, receives external input instruction,
Target projection point is selected in each fluoroscopy images according to external input instruction；
Relationship map module, to determine that two images connect according to the spatial variations relation of two shooting angle of fluoroscopic apparatus
The position relationship being closed flat between face, it is by this position relationship that the target projection point in a wherein image receiving plane is corresponding
The position relationship between light source under shooting angle is mapped as the position relationship compared with another image receiving plane, to determine two
The same target actual point of projection line intersection between a target projection point and respective light source connects compared with another image
It is closed flat the spatial position in face；
Spatial position data generation module, to according under another corresponding shooting angle of image receiving plane
Spatial relationship between the B groups nominal volume determines space bit of the same target actual point compared with the B group nominal volumes
It puts, generates actual point spatial position data.
According to one embodiment of present invention, the processing unit is also connected with the space multistory positioning device, the sky
Between stereotactic apparatus also to capture the spatial position of the B group nominal volumes under two different shooting angles, with determine the B
Relative position relation of the group nominal volume under two shooting angle, and the relative position relation is transmitted to the processing unit
In, the spatial variations relation as described two shooting angle of fluoroscopic apparatus.
According to one embodiment of present invention,
Described image acquisition processing module in two fluoroscopy images selectes a target projection point, determines two mesh respectively
Mark first position point (x of the subpoint in respective image receiving plane1, y1), second position point (x2, y2)；
The relationship map module determines two according to relative position relation of the B groups nominal volume under two shooting angle
Spatial variations matrix S between image receiving plane：Wherein,For under the first shooting angle
The coordinate system that B group nominal volumes determine,For the coordinate system that the B group nominal volumes under the second shooting angle determine, two coordinates
System to establish mode identical；By spatial variations matrix S by the second position point (x of the second image receiving plane2, y2) right with it
Answer the light source (x under shooting angleb, yb, zb) between position relationship be mapped as compared with the first image receiving plane position pass
System：(x′2, y '2, z′2)=S (x2, y2, 0) ... (1), (x 'b, y 'b, z 'b)=S (xb, yb, zb) ... (2), according to
(1) and (2) determine the second position point (x ' after spatial variations2, y '2, z '2) and light source (x 'b, y 'b, z 'b) between straight line side
Journey (3),First position point (x is determined in described first image receiving plane1, y1) and its
Light source (x under corresponding shooting anglea, ya, za) between linear equation (4),Connection
Vertical calculate (3) and (4) obtain the intersection point (x, y, z) of linear equation, as the same target actual point compared with the first image
The spatial position of receiving plane；
The spatial position data generation module, according to the position relationship between the receiver board and B group nominal volumes by institute
Stating same target actual point, compared with the spatial position of the first image receiving plane to be converted to the same target actual point opposite
Spatial position between B group nominal volumes generates actual point spatial position data.
According to one embodiment of present invention, the A groups nominal volume and B group nominal volumes are respectively provided at least three nominal volumes,
It is coplanar without conllinear between at least three nominal volumes in every group.
According to one embodiment of present invention, the processing unit, space multistory positioning device or control device, according to sky
Between the spatial position of every group of three nominal volumes that measures of stereotactic apparatus
Establish this group of nominal volume part O-XYZ coordinate system, coordinate centerX-direction is defined asDirection, Y-axis
Direction is defined asDirection, Z-direction are defined asDirection.
According to one embodiment of present invention, the control device includes：
Data acquisition module is determined to receive the actual point spatial position data of the processing unit and the space multistory
The three-dimensional relative position relation of the A groups nominal volume and the B groups nominal volume under an at least shooting angle of position equipment；
Position data processing module, the position data at least three nominal volumes according to the A groups nominal volume establish A
Three-dimensional system of coordinate determines that the point to be determined exists according to the position relationship of the A groups nominal volume and surgery mechanical arm point to be determined
Position in the A three-dimensional system of coordinates；B three-dimensionals are established according to the position data of at least three nominal volumes of the B groups nominal volume
Coordinate system, according to the relative position relation of A groups nominal volume and B group nominal volumes by the point to be determined in the A three-dimensional system of coordinates
In position be mapped in B three-dimensional system of coordinates, obtain coordinate value of the point to be determined in the B three-dimensional system of coordinates；According to
The target actual point determines the target actual point in the B three-dimensional system of coordinates compared with the spatial position of B group nominal volumes
Coordinate value；Determine that the surgery mechanical arm is to be positioned according to the coordinate value of the coordinate value of point to be determined and the target actual point
The stroke of point, generation Stroke Control instruction；
To receive the Stroke Control instruction, the hand is controlled according to Stroke Control instruction for Stroke Control module
Art mechanical arm is acted so that its point to be determined is moved at the target actual point.
According to one embodiment of present invention, the fluoroscopic apparatus is in all angles are shot for target object, light source
Relative position and relative direction between the image receiving plane of receiver remain constant.
According to one embodiment of present invention, the space multistory positioning device is realized by Binocular Stereo Vision System.
According to one embodiment of present invention, operation tool or operation backman are installed on the surgery mechanical arm
Tool, the control device control the surgery mechanical arm action to drive the undetermined of the operation tool or surgical assist tool
Site is moved to the spatial position of target actual point.
After adopting the above technical scheme, the present invention has the advantages that compared with prior art：
By fixing A group nominal volumes on surgery mechanical arm, the space bit between surgery mechanical arm and A group nominal volumes is obtained
Put relation；By fixing B group nominal volumes on fluoroscopic apparatus, the position relationship between receiver board and B group nominal volumes is obtained；Pass through
Spatial relation between A groups nominal volume and B group nominal volumes obtains the position relationship between surgery mechanical arm and fluoroscopic apparatus；
By fluoroscopic apparatus shoot at least two fluoroscopy images on patient's patient part, operator only need on fluoroscopy images point
Needle selection, according to the spatial relation between light source and receiver board, can obtain the position point to the subpoint of same position point
Actual point three-dimensional position, so as to just determine bit space position relationship between the actual point and surgery mechanical arm, according to this controllably
Mechanical arm processed is moved to actual point location；Without carrying out CT scan three-dimensional modeling and surgery planning before surgery, radiation danger is reduced
Evil decreases the time of corrective surgery wait；It can be positioned in the preoperative or in art, operator only needs to click perspective view
Position point as in need not carry out surgery planning or control being moved to for surgery mechanical arm according to the development of mark part
Purpose is positioned, reduces operation complexity and the difficulty of positioning, improves the automatic controlling level of positioning；Nominal volume will not shadow
Operative site is rung, the stroke of control surgery mechanical arm after definite position relationship is clicked by image, setting accuracy can be improved；
The variation of shooting angle is determined by sensing the spatial variations situation of B group nominal volumes, can cause fluoroscopic apparatus
Posture can arbitrarily be converted to be shot, operated more convenient, and acted can ensure precision in any case, avoid acting
Error is led to the problem of beyond expection；
Position relationship between light source under two shooting angle and target projection point is converted in order to compared with same figure
As for receiving plane, the projection line intersection intersection position calculated between two intersection point light sources and target projection point determines reality
The position of point, the three-dimensional position of target actual point has been obtained by two two-dimensional positions clicked, can be by fluoroscopy images
On click and by surgery mechanical arm navigate to it is arbitrary wish position position, be advantageous to operation carry out.
Description of the drawings
Fig. 1 is the structure diagram of the surgery mechanical arm alignment system of one embodiment of the invention；
Fig. 2 is that the target actual point of one embodiment of the invention determines the schematic diagram of relation.
Description of symbols in figure：
1- surgery mechanical arms, 2- fluoroscopic apparatus, 21- light sources, 22- receiver boards, 3- processing units, the positioning of 4- space multistories are set
It is standby, 5- control devices, 6- operation tools or surgical assist tool, 100-A group nominal volumes, 200-B group nominal volumes.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with the accompanying drawings to the present invention
Specific embodiment be described in detail.
Many details are elaborated in the following description in order to fully understand the present invention.But the present invention can be with
Much implement different from other manner described here, those skilled in the art can be in the situation without prejudice to intension of the present invention
Under do similar popularization, therefore the present invention is not limited to the specific embodiments disclosed below.
Referring to Fig. 1, in one embodiment, surgery mechanical arm alignment system includes：Surgery mechanical arm 1, fluoroscopic apparatus 2,
Processing unit 3, space multistory positioning device 4 and control device 5.
A groups nominal volume 100 is relatively fixed on surgery mechanical arm 1, surgery mechanical arm 1 can be existing surgery mechanical arm
Or suitable change is done in structure, such as the position of the fixed position, wherein A groups nominal volume 100 of A groups nominal volume 100 is set
It puts and is preferably protected always during the work time with the operation tool installed on surgery mechanical arm 1 or the position of surgical assist tool 6
Hold it is constant, such as A groups nominal volume 100 can be fixed on surgery mechanical arm 1 end or end close to position, if changing
The stroke moved according to needed for the relative position after variation calculates positioning.It is movable that surgery mechanical arm 1 is preferably three-dimensional six degree of freedom
Mechanical arm, act by joint driving mechanism driving, specifically how to act and be not intended as limiting, as long as can most treat at last
Anchor point is moved to the position of positioning.
B groups nominal volume 200 has been relatively fixed on fluoroscopic apparatus 2.Preferably, fluoroscopic apparatus 2 can be that x-ray fluoroscopy scanning is set
It is standby.Using x-ray fluoroscopy scanning device, the development of bone can be realized, so that whole system, which can be realized, bores bone point position
Deng positioning.
By taking x-ray fluoroscopy scanning device as an example, when fluoroscopic apparatus 2 works, the transmitting X-ray of X source 21 is by target object (in Fig. 1
For the position of patient) it projects fluoroscopy images is formed on receiver board 22, the plate face of receiver board 22 is the image of the fluoroscopy images
Receiving plane.
Fluoroscopic apparatus 2 shoots target object to form at least two fluoroscopy images, target object from least two angle pins
A position on patient e.g. in figure.Wherein, B groups nominal volume 200 and the light source 21 of fluoroscopic apparatus 2 and the phase of receiver board 22
It is constant to position, it is more convenient in order to be calculated with the target projection point position relationship in image receiving plane, B groups can be demarcated
Body 200 is fixed near receiver board 22, does not influence the shooting of fluoroscopic apparatus 2 certainly.If from two angle shots, two angles
Stagger, is not opposite in 21 position of light source under degree.
Fluoroscopic apparatus 2 is at least from two angle shots to two fluoroscopy images, due to both light source 21 and receiver board 22
Between position relationship variation did not occur, thus patient positions are located at the correspondence subpoint of image receiving plane and corresponding light
On the line of source position, after two different angles are shot, it can obtain being directed to two light of same position point in three dimensions
To the line of image receiving plane subpoint, line intersection point is the three-dimensional position point of the same position point, is shot certainly more in source
Fluoroscopy images under multi-angle determine that the three-dimensional position point of same position point is equally applicable.
Preferably, in all angles in target object shooting, light source 21 and the image of receiver 22 connect fluoroscopic apparatus 2
The relative position and relative direction being closed flat between face remain constant, avoid also needing to picture size variation or position conversion
Deng.
Processing unit 3 receives the fluoroscopy images of fluoroscopic apparatus 2, according to external input instruction at least two fluoroscopy images
Selected target subpoint respectively, the target projection point in each fluoroscopy images are light source under corresponding shooting direction by target pair
As the point in the upper actual spot projection of same target to correspondence image receiving plane.That is, processing unit 3 receives perspective
After image, the same position point of patient that is shown in fluoroscopy images is selected on each fluoroscopy images according to external input instruction
Target projection point, the position point selected in each fluoroscopy images is identical, such as when boring bone positioning, is selected in each figure same
One bores the subpoint of bone point, so as to obtain at least two projection lines of the brill bone point according to subpoint and light source line, calculates and throws
Hachure intersection point can obtain the position of the brill bone point.External input instruction can be that operator clicks on the fluoroscopy images of display
What same area point was formed, such as can be clicked on and chosen by mouse, touch-screen touch is chosen, and the modes such as handwriting pad write-in generate
External input instructs.
Processing unit 3 is according to 1 target projection points and the position relationship of light source and at least two target projections point
Image receiving plane between position relationship, it is known that position between the image receiving plane of 1 target projection points close
System can will be under target complete subpoint and optical device to the same coordinate system, then 1 target projection points and light source
Position relationship can calculate intersection point under the same coordinate system, may thereby determine that the position of same target actual point, since B groups are marked
Known to the relative position for determining body 200 and image receiving plane (receiver board 22), then can determine same mesh by position conversion
Spatial position of the actual point compared with B groups nominal volume 200 is marked, generates actual point spatial position data.
Space multistory positioning device 4 obtains A groups to capture the spatial position of A groups nominal volume 100 and B groups nominal volume 200
Nominal volume 100 is with that behind the spatial position of B groups nominal volume 200, can be calculated A groups nominal volume 100 and B groups nominal volume 200
Three-dimensional relative position relation.Capture, which obtains nominal volume spatial position, to be realized according to existing stereoscopic vision location technology, have
Body repeats no more.Space multistory positioning device 4 can realize that B groups nominal volume 200, A groups are demarcated by Binocular Stereo Vision System
Body 100 is the nominal volume that can be sensed by Binocular Stereo Vision System, is not limited specifically.
5 connection processing device 3 of control device and space multistory positioning device 4, three can be integrated in same equipment or
Set up separately in distinct device or a respective autonomous device.The actual point spatial position number of 5 receiving and processing device 3 of control device
According to the three-dimensional relative position relation between the A groups nominal volume 100 of space multistory positioning device 4 and B groups nominal volume 200, due to,
The target actual point of patient and the spatial relation of B groups nominal volume 200 it is known that A groups nominal volume 100 and B groups nominal volume 200 it
Between spatial relation it is known that the spatial relation of A groups nominal volume 100 and surgery mechanical arm 1 it is known that so as to according to three-dimensional
Relative position relation and actual point spatial position data control surgery mechanical arm 1 are moved to the spatial position of target actual point.
By fixing A groups nominal volume 100 on surgery mechanical arm 1, obtain between surgery mechanical arm 1 and A groups nominal volume 100
Spatial relation；By fixing B groups nominal volume 200 on fluoroscopic apparatus 2, obtain receiver board 22 and B groups nominal volume 200 it
Between position relationship；Surgery mechanical arm 1 is obtained by the spatial relation between A groups nominal volume 100 and B groups nominal volume 200
With the position relationship between fluoroscopic apparatus 2；At least two perspective view on patient's patient part shot by fluoroscopic apparatus 2
Picture, operator need to only click the subpoint for same position point on fluoroscopy images, according between light source 21 and receiver board 22
Spatial relation, the actual point three-dimensional position of the position point can be obtained, so as to just determine the actual point and surgery mechanical
Spatial relation between arm 1 can control mechanical arm to be moved to actual point location according to this；Without carrying out CT scan before surgery
Three-dimensional modeling and surgery planning reduce radiation hazradial bundle, decrease the time of corrective surgery wait；Can in the preoperative or in art into
Row positioning, operator only need to click the position point in fluoroscopy images, need not carry out surgery planning or according to mark part
Develop the difficulty for being moved to positioning purpose, reducing operation complexity and positioning for controlling surgery mechanical arm 1, it is fixed to improve
The automatic controlling level of position；Nominal volume does not interfere with operative site, and operation is controlled after clicking definite position relationship by image
The stroke of mechanical arm 1 can improve setting accuracy.
The stereotactic system more than two planes is similarly also extended to, it is saturating to shoot one or more planes again in the process
Depending on that also similar can calculate intersection point by rigid body and mapping, then linear equation, be not limited to biplane shooting positioning.
In one embodiment, processing unit 3 can include：Image acquisition and processing module, relationship map module and space
Position data generation module.In the present embodiment, by taking two fluoroscopy images as an example, it will be understood that three or more fluoroscopy images exist
It is equally applicable in the present embodiment.
Image acquisition and processing module receives two fluoroscopy images of fluoroscopic apparatus 2, the two certain fluoroscopy images are to be directed to
Patient positions shoot acquisition from different perspectives.Image acquisition and processing module also receives external input instruction, external input instruction
The e.g. modes such as mouse input, screen input, input through keyboard input generation.Image acquisition and processing module refers to according to external input
A target projection point is selected in order in each fluoroscopy images.Due to fluoroscopy images with image receiving plane be it is corresponding, the two it
Between can have the scaling of size, but impact position does not correspond to, thus clicks and be equivalent in image receiving plane on fluoroscopy images
Correspondence position clicks.Referring to Fig. 2, target projection point Q1, the point on image receiving plane G2 are clicked on image receiving plane G1
Target projection point Q2 is selected, target projection point Q1, Q2 are that practice sites point Q shoots formation under different angle.
Relationship map module according to the spatial variations relation of 2 two shooting angle of fluoroscopic apparatus determining that two images connect
The position relationship being closed flat between face, that is, determine the relation in Fig. 2 between image receiving plane G1 and G2.Due to light source L2 and
The position of target projection point Q2 is for image receiving plane G2, due to the position of light source L1 and target projection point Q1
It is for image receiving plane G1, in order to calculate the position of actual point Q, it is necessary to know two image receiving plane G1
Relativeness between G2.Relationship map module, will wherein one by the position relationship between image receiving plane G1 and G2
Between the light source L2 under the corresponding shooting angle of target projection point Q2 on image receiving plane G2 position relationship (Q2,
L2), the position relationship compared with another image receiving plane G1 is mapped as, with definite two target projection point Q1, Q2 and each
The same target actual point Q of projection line intersection between light source L1, L2 compared with another image receiving plane G1 space bit
It puts.
Preferably, processing unit 3 is also connected with space multistory positioning device 4, space multistory positioning device 4 is also capturing
The spatial position of B groups nominal volume 200 under two different shooting angles, to determine B groups nominal volume 200 under two shooting angle
Relative position relation, and the relative position relation is transmitted in processing unit 3, as 2 two shooting angle of fluoroscopic apparatus
Spatial variations relation.G2 pairs of corresponding 200 positions of B groups nominal volume of namely image receiving plane G1 and image receiving plane
200 position of B groups nominal volume answered, relation between the two can obtain the spatial variations of B groups nominal volume 200 under two angles
Situation, so as to which due to having fixed position relation between receiver board 22 and B groups nominal volume 200, image receiving plane G1 can be obtained
Transformational relation between G2.The variation of shooting angle is determined by sensing the spatial variations situation of B groups nominal volume 200, it can
It is shot, is operated more convenient so that fluoroscopic apparatus 2 can arbitrarily convert posture, and acted can protect in any case
Precision is demonstrate,proved, avoids the problem that action exceeds expected and generates error.
Alternatively, optional, the spatial variations relation of 2 two shooting angle of fluoroscopic apparatus can be preset, that is,
Shooting obtains two fluoroscopy images under the shooting angle specified, so as to which the relativeness between fluoroscopy images is known, it is preferred that
Two shooting angle are vertical, convenient for calculating.
Spatial position data generation module is to according to the B under the corresponding shooting angle of another image receiving plane G1
Spatial relationship between group nominal volume, the target actual point Q that marriage relation mapping block is calculated is compared with another another image
The spatial position of receiving plane G1, determines spatial positions of the same target actual point Q compared with the B group nominal volumes, and generation is actual
Space of points position data.
Position relationship between light source under two shooting angle and target projection point is converted in order to compared with same figure
As for receiving plane, the projection line intersection intersection position calculated between two intersection point light sources and target projection point determines reality
The position of point, the three-dimensional position of target actual point has been obtained by two two-dimensional positions clicked, can be by fluoroscopy images
On click and by surgery mechanical arm navigate to it is arbitrary wish position position, be advantageous to operation carry out.
More particularly, with continued reference to Fig. 2, image acquisition and processing module selectes a target respectively in two fluoroscopy images
Subpoint Q1, Q2 determine first position point (xs of two target projection point Q1, Q2 in respective image receiving plane G1, G21, y1)、
Second position point (x2, y2).First position point (x1, y1), second position point (x2, y2) it is respectively with image receiving plane G1, G2
For the two-dimensional position point that the local two-dimensional coordinate system of X/Y plane determines, two dimension is switched to put down using image receiving plane G1, G2 as XY
The three-dimensional position point of the three-dimensional system of coordinate in face, first position point (x1, y1) switch to (x1, y1, 0), second position point (x2, y2) switch to
(x2, y2, 0), conversion can carry out in relationship map module.
Relationship map module determines two figures according to B groups 200 relative position relation under two shooting angle of nominal volume
As the spatial variations matrix S between receiving plane：Wherein,For under the first shooting angle
The definite coordinate system of B groups nominal volume 200,For the definite coordinate system of the B groups nominal volume 200 under the second shooting angle, two
A coordinate system establishes that mode is identical, and a specific embodiment will be provided below by specifically establishing mode, but without limitation.
Relationship map module is by spatial variations matrix S by the second position point (x of the second image receiving plane G22, y2)
(switch to three-dimensional point (x2, y2, 0)) light source (x under corresponding shooting angleb, yb, zb) between position relationship be mapped as relatively
In the position relationship of the first image receiving plane G1：
(x′2, y '2, z '2)=S (x2, y2, 0) ... (1), (x 'b, y 'b, z 'b)=S (xb, yb, zb)、......
(2),
Second position point (the x ' after spatial variations is determined according to (1) and (2)2, y '2, z '2) and light source (x 'b, y 'b, z 'b)
Between linear equation (3),
Relationship map module determines first position point (x in the first image receiving plane G11, y1) (switch to three-dimensional point (x1,
y1, 0)) and its correspond to shooting angle under light source (xa, ya, za) between linear equation (4),
Relationship map module simultaneous calculate above-mentioned formula (3) and (4) obtain can obtaining two linear equations intersection point (x,
Y, z), i.e., same target actual point Q compared with the first image receiving plane G1 spatial position.
Spatial position data generation module (is equivalent to image according to the position relationship between receiver board and B groups nominal volume 200
Relation under receiving plane and corresponding angle between B groups nominal volume 200), the same target that relationship map module is obtained is actual
O'clock same target actual point is converted to compared between B groups nominal volume 200 compared with the spatial position of the first image receiving plane
Spatial position, generate actual point spatial position data.
In one embodiment, A groups nominal volume and B groups nominal volume 200 are respectively provided at least three nominal volumes, in every group extremely
It is coplanar without conllinear between few three nominal volumes.Three nominal volumes can set up corresponding partial 3 d coordinate system, as one
A entirety calculates the position relationship between other component, and the position of calculating is more accurate, also allow for calculating.
Optionally, processing unit, space multistory positioning device or control device can be surveyed according to space multistory positioning device
The spatial position of every group of three nominal volumes obtained Establishing should
Group nominal volume part O-XYZ coordinate systems, coordinate centerX-direction is defined asDirection, Y direction are fixed
Justice isDirection, Z-direction are defined asDirection, the mode which establishes are suitable for A groups nominal volume 100
The definite coordinate system with the B groups nominal volume 200 under B groups nominal volume 200, such as the first shooting angle in previous embodimentThe coordinate system that B groups nominal volume 200 under second shooting angle determines
In one embodiment, control device includes：Data acquisition module, position data processing module and Stroke Control mould
Block.
Data acquisition module is to the actual point spatial position data of receiving and processing device and the A of space multistory positioning device
The three-dimensional relative position relation of group nominal volume 100 and the B groups nominal volume 200 under an at least shooting angle.In processing unit
After the spatial variations for completing the corresponding light source of image receiving plane and target projection point, the figure in the space changed to is just only needed
As the position of receiving plane, thus obtain the three-dimensional phase of the corresponding B groups nominal volume 200 and A groups nominal volume 100 of the image receiving plane
To position relationship, the three-dimensional relative position relation obtained certainly under two shooting angle can also.
Position data processing module establishes A tri- to the position data of at least three nominal volumes according to A groups nominal volume 100
Dimension coordinate system according to A groups nominal volume 100 and the position relationship of surgery mechanical arm point to be determined, determines point to be determined in the three-dimensional seats of A
Position in mark system.Position data processing module establishes B according to the position data of at least three nominal volumes of B groups nominal volume 200
Three-dimensional system of coordinate, according to the relative position relation of A groups nominal volume 100 and B groups nominal volume 200, by point to be determined in A three-dimensional coordinates
Position in system is mapped in B three-dimensional system of coordinates, obtains coordinate value of the point to be determined in B three-dimensional system of coordinates.At position data
Reason module determines target actual point in B three-dimensional system of coordinates according to target actual point compared with the spatial position of B groups nominal volume 200
Coordinate value.Position data processing module determines surgery mechanical according to the coordinate value of point to be determined and the coordinate value of target actual point
The stroke of arm point to be determined, generation Stroke Control instruction.
Stroke Control module is instructed according to Stroke Control and controlled to receive the instruction of the Stroke Control of position data processing module
Surgery mechanical arm 1 processed acts, so that its point to be determined is moved at target actual point.
In one embodiment, operation tool or surgical assist tool 6 on surgery mechanical arm 1 are installed, are, for example, hand
Art knife, electric drill, Kirschner wire, sleeve etc..Control device control surgery mechanical arm 1 acts, to drive operation tool or auxiliary surgical
The point to be determined (such as end) of assistant engineer's tool 6 is moved to the spatial position of target actual point.
Although the present invention is disclosed as above with preferred embodiment, it is not for limiting claim, any this field
Technical staff without departing from the spirit and scope of the present invention, can make possible variation and modification, therefore the present invention
Protection domain should be subject to the scope that the claims in the present invention are defined.
Claims (10)
1. a kind of surgery mechanical arm alignment system, which is characterized in that including：
Surgery mechanical arm has been relatively fixed A group nominal volumes thereon；
Fluoroscopic apparatus has been relatively fixed B group nominal volumes, target object is shot to form at least two from least two angle pins thereon
A fluoroscopy images；
Processing unit receives the fluoroscopy images of the fluoroscopic apparatus, is instructed according to external input at least two perspective view
The selected target subpoint respectively as in, the target projection point in each fluoroscopy images are light source under corresponding shooting direction by mesh
Mark object on the actual spot projection of same target to correspondence image receiving plane on point, according to 1 target projection points with
Position relationship between the image receiving plane of the position relationship of light source and at least two target projections point determines described
Same target actual point generates actual point spatial position data compared with the spatial position of B group nominal volumes；
Space multistory positioning device to capture the spatial position of the A groups nominal volume and the B groups nominal volume, forms A groups mark
Determine the three-dimensional relative position relation of body and B group nominal volumes；
Control device connects the processing unit and space multistory positioning device, receives the actual space of points of the processing unit
The three-dimensional relative position relation of position data and the space multistory positioning device, according to the three-dimensional relative position relation and reality
The border space of points position data control surgery mechanical arm is moved to the spatial position of the target actual point.
2. surgery mechanical arm alignment system as described in claim 1, which is characterized in that the processing unit includes：
Image acquisition and processing module to receive the two of the fluoroscopic apparatus fluoroscopy images, receives external input instruction, according to
A target projection point is selected in external input instruction in each fluoroscopy images；
Relationship map module, it is flat to determine that two images receive according to the spatial variations relation of two shooting angle of fluoroscopic apparatus
Position relationship between face, by this position relationship by the corresponding shooting of target projection point in a wherein image receiving plane
The position relationship between light source under angle is mapped as the position relationship compared with another image receiving plane, to determine two mesh
The same target actual point for marking the projection line intersection between subpoint and respective light source is flat compared with another image reception
The spatial position in face；
Spatial position data generation module, to according under another corresponding shooting angle of image receiving plane
Spatial relationship between B group nominal volumes determines spatial position of the same target actual point compared with the B group nominal volumes, raw
Into actual point spatial position data.
3. surgery mechanical arm alignment system as claimed in claim 2, which is characterized in that the processing unit is also connected with the sky
Between stereotactic apparatus, the space multistory positioning device is also capturing the B group nominal volumes under two different shooting angles
Spatial position, to determine relative position relation of the B groups nominal volume under two shooting angle, and the relative position is closed
System is transmitted in the processing unit, the spatial variations relation as described two shooting angle of fluoroscopic apparatus.
4. surgery mechanical arm alignment system as claimed in claim 3, which is characterized in that
Described image acquisition processing module selectes a target projection point respectively in two fluoroscopy images, determines that two targets are thrown
Shadow point is in the first position point (x of respective image receiving plane1,y1), second position point (x2,y2)；
The relationship map module determines two images according to relative position relation of the B groups nominal volume under two shooting angle
Spatial variations matrix S between receiving plane：Wherein,For the B under the first shooting angle
The coordinate system that group nominal volume determines,For the coordinate system that the B group nominal volumes under the second shooting angle determine, two coordinates
System to establish mode identical；By spatial variations matrix S by the second position point (x of the second image receiving plane2,y2) right with it
Answer the light source (x under shooting angleb,yb,zb) between position relationship be mapped as compared with the first image receiving plane position pass
System：(x'2,y'2,z'2)=S (x2,y2, 0) ... (1), (x'b,y'b,z'b)=S (xb,yb,zb) ... (2), according to
(1) and (2) determine the second position point (x' after spatial variations2,y'2,z'2) and light source (x'b,y'b,z'b) between straight line side
Journey (3),First position point (x is determined in described first image receiving plane1,y1) and its
Light source (x under corresponding shooting anglea,ya,za) between linear equation (4),
Simultaneous calculates (3) and (4) and obtains the intersection point (x, y, z) of linear equation, as the same target actual point compared with the first figure
As the spatial position of receiving plane；
The spatial position data generation module, will be described same according to the position relationship between the receiver board and B group nominal volumes
One target actual point is converted to the same target actual point compared with B groups compared with the spatial position of the first image receiving plane
Spatial position between nominal volume generates actual point spatial position data.
5. the surgery mechanical arm alignment system as described in any one in claim 1-4, which is characterized in that the A groups calibration
Body and B group nominal volumes are respectively provided at least three nominal volumes, coplanar without conllinear between at least three nominal volumes in every group.
6. surgery mechanical arm alignment system as claimed in claim 5, which is characterized in that the processing unit, space multistory are fixed
Position equipment or control device, according to the spatial position of every group of three nominal volumes that space multistory positioning device measuresEstablish this group of nominal volume part O-XYZ coordinate system, coordinate
CenterX-direction is defined asDirection, Y direction are defined asDirection, Z-direction are fixed
Justice isDirection.
7. surgery mechanical arm alignment system as claimed in claim 5, which is characterized in that the control device includes：
Data acquisition module sets to receive the actual point spatial position data of the processing unit and space multistory positioning
The three-dimensional relative position relation of standby A groups nominal volume and the B groups nominal volume under an at least shooting angle；
Position data processing module establishes A three-dimensionals to the position data of at least three nominal volumes according to the A groups nominal volume
Coordinate system determines the point to be determined in the A according to the position relationship of the A groups nominal volume and surgery mechanical arm point to be determined
Position in three-dimensional system of coordinate；B three-dimensional coordinates are established according to the position data of at least three nominal volumes of the B groups nominal volume
System, according to the relative position relation of A groups nominal volume and B group nominal volumes by the point to be determined in the A three-dimensional system of coordinates
Position is mapped in B three-dimensional system of coordinates, obtains coordinate value of the point to be determined in the B three-dimensional system of coordinates；According to described
Target actual point determines seat of the target actual point in the B three-dimensional system of coordinates compared with the spatial position of B group nominal volumes
Scale value；The surgery mechanical arm point to be determined is determined according to the coordinate value of the coordinate value of point to be determined and the target actual point
Stroke, generation Stroke Control instruction；
To receive the Stroke Control instruction, the surgical engine is controlled according to Stroke Control instruction for Stroke Control module
Tool arm is acted so that its point to be determined is moved at the target actual point.
8. the surgery mechanical arm alignment system as described in any one in claim 1-4, which is characterized in that the fluoroscopic apparatus
In all angles are shot for target object, relative position and contra between the image receiving plane of light source and receiver
It is constant to remaining.
9. the surgery mechanical arm alignment system as described in any one in claim 1-4, which is characterized in that the space multistory
Positioning device is realized by Binocular Stereo Vision System.
10. the surgery mechanical arm alignment system as described in any one in claim 1-4, which is characterized in that the surgical engine
Operation tool or surgical assist tool are installed, the control device controls the surgery mechanical arm action to drive on tool arm
The point to be determined of the operation tool or surgical assist tool is moved to the spatial position of target actual point.
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Effective date of registration: 20200608 Address after: 201210 room 106, building 9, no.1206, Zhangjiang Road, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai Patentee after: Shanghai Zhuoxin Medical Technology Co., Ltd Address before: 200082 room 1101-56, No. 127 Yangpu District Road, Shanghai, China Patentee before: SHANGHAI BOCHENG MEDICAL TECHNOLOGY Co.,Ltd. |