CN111134702B - Automatic control system and method for C-arm machine - Google Patents
Automatic control system and method for C-arm machine Download PDFInfo
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- CN111134702B CN111134702B CN201911298386.8A CN201911298386A CN111134702B CN 111134702 B CN111134702 B CN 111134702B CN 201911298386 A CN201911298386 A CN 201911298386A CN 111134702 B CN111134702 B CN 111134702B
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Abstract
The invention discloses an automatic control system and method of a C-arm machine, wherein the automatic control system comprises a C-arm machine tracer, a patient tracer, an optical positioning tracking module, a control module, a C-arm machine motion control module and a C-arm machine; the control module is in communication connection with the optical positioning and tracking module, the C-arm machine motion control module is connected with the control module, and the C-arm machine motion control module is connected with the C-arm machine. The invention realizes the accurate positioning of the spatial position of the C-arm machine, releases medical staff from a high-radiation operating room, and can automatically control or remotely operate the C-arm machine.
Description
Technical Field
The invention relates to the field of medical equipment, in particular to an automatic control system and method for a C-arm machine.
Background
C-arm machines have been used widely in numerous procedures for many years as an important imaging device. Visualization of drainage tube intrarenal insertion, aortic aneurysm resection, heart disease surgery, gastrointestinal surgery, neurostimulator implantation surgery, orthopedics and pain management has been achieved today with the aid of C-arm imaging.
In vertebroplasty, medical staff can accurately identify lesions by imaging with a C-arm machine. However, in the existing operation procedure, the medical staff needs to be exposed to the rays of the C-arm machine in the whole process, and when the medical staff manually operates the C-arm machine, the health of the medical staff is greatly influenced by the C-arm machine, and particularly, the influence of the C-arm machine on the medical staff who frequently operates the C-arm machine is more obvious. Therefore, to ensure health of medical personnel, it is necessary to remotely or automatically control the C-arm machine.
Disclosure of Invention
The invention aims to: aiming at the defects, the invention provides an automatic control system and an automatic control method for a C-arm machine, which realize the automatic control of the C-arm machine, release medical staff from a high-radiation operating room and ensure the health of the medical staff.
The technical scheme is as follows:
an automatic control system of a C-arm machine comprises a C-arm machine tracer, a patient tracer, an optical positioning and tracking module, a control module, a C-arm machine motion control module and a C-arm machine; the control module is in communication connection with the optical positioning and tracking module, the C-arm machine motion control module is connected with the control module, and the C-arm machine motion control module is connected with the C-arm machine;
the C-arm machine tracer is arranged on an X-ray generator of the C-arm machine, and the patient tracer is arranged on a spinous process of a vertebral body of a patient; at least three coplanar non-collinear reflecting balls are arranged on the C-arm machine tracer and the patient tracer;
the optical positioning tracking module is used for respectively acquiring signals of the reflecting balls on the C-arm machine tracer and the patient tracer, obtaining positions of the C-arm machine tracer and the patient tracer under a tracking module coordinate system, and sending the positions to the control module;
the control module obtains the position of the C-arm machine tracer under the coordinate system of the C-arm machine according to the installation position of the C-arm machine tracer, so as to calculate and obtain the midpoint position between the X-ray generator of the C-arm machine and the imaging medium under the coordinate system of the C-arm machine; meanwhile, the control module obtains a registration relation between a tracking module coordinate system and a C-arm machine coordinate system according to the position of the C-arm machine tracer under the C-arm machine coordinate system and the position of the C-arm machine tracer under the tracking module coordinate system, which is sent by the optical positioning tracking module, calculates the position of the patient tracer under the C-arm machine coordinate system according to the position of the patient tracer under the tracking module coordinate system, which is sent by the optical positioning tracking module, and calculates the position of the midpoint of the vertebral segment of the patient under the C-arm machine coordinate system according to the mounting height of the patient tracer;
the control module takes the obtained position of the midpoint of the vertebral segment of the patient under the coordinate system of the C-arm machine as the target position of the midpoint position between the X-ray generator of the C-arm machine and an imaging medium, calculates the pose information of the pose of each joint of the C-arm machine by using an inverse kinematics solving method, and sends the obtained pose information of the pose of each joint of the C-arm machine to the C-arm machine motion control module;
the motion control module of the C-arm machine generates control instructions according to pose information of pose of each joint of the C-arm machine and sends the control instructions to the C-arm machine; the C-arm machine adjusts the pose of each joint of the C-arm machine according to the control instruction; and the C arm movement control module controls the C arm of the C arm machine to rotate 180 degrees to finish scanning after the C arm machine reaches a specified position.
The control module obtains the position of the C-arm tracer under the coordinate system of the C-arm tracer according to the installation position of the C-arm tracer, and the position is specifically as follows:
the C-arm machine comprises five joints, wherein a lifting joint A for adjusting the height of the C-arm 1 The motion parameter of (2) is d 1 Swing joint A for swinging C-arm in horizontal plane 2 The motion parameter of (2) is theta 2 Translation joint A of horizontal telescopic C arm 3 The motion parameter of (2) is d 3 Rotary joint A for rotating C-arm in C-plane 4 The motion parameter of (2) is theta 4 Rotational joint A of rotational C arm 5 The motion parameter of (2) is theta 5 ；
Establishing a kinematic coordinate system of the C-arm machine according to the rule of establishing the coordinate system by DH method, and calculating a base coordinate system O by using DH rule 0 -x 0 y 0 z 0 And coordinate system O 5 -x 5 y 5 z 5 A homogeneous transformation matrix between the two; wherein the base coordinate system O 0 -x 0 y 0 z 0 Is a C-arm machine starting point coordinate system, a coordinate system O 5 -x 5 y 5 z 5 A midpoint position coordinate system between the C-arm machine X-ray generator and the imaging medium;
and completing a connecting rod D-H parameter table according to the established kinematic coordinate system, wherein the connecting rod D-H parameter table is as follows:
substituting each parameter in the parameter table into the matrix A to calculate the homogeneous transformation matrix among the homogeneous transformation matrix coordinate systems of each joint axis, namelyThe a matrix in robot kinematics is as follows:
wherein,is a coordinate system O n-1 -x n-1 y n-1 z n-1 To O n -x n y n z n A homogeneous transformation matrix between the two, c=cos, s=sin;
therefore, the base coordinate system O 0 -x 0 y 0 z 0 And coordinate system O 5 -x 5 y 5 z 5 The homogeneous transformation matrix between the two is obtained by the following formula:
in summary, the method of forward kinematics analysis of the robot is used to determine the coordinate system O of the midpoint position between the X-ray generator of the C-arm machine and the imaging medium 5 -x 5 y 5 z 5 Coordinates a (x A .y A ,z A ) The C-arm tracer is in a coordinate system O 5 -x 5 y 5 z 5 Coordinate D of (3) c (x Dc ，y Dc ,z Dc )。
The midpoint coordinates of the vertebral segments are calculated as follows:
the optical positioning tracking module calculates the position D of the C-arm machine tracer in real time under the coordinate system of the tracking module ndi And the position E of the patient tracer in the tracking module coordinate system ndi />The C-arm tracer is found according to the above in the coordinate system O 5 -x 5 y 5 z 5 Coordinate D of (3) c (x Dc ，y Dc ,z Dc ) Obtaining the tracking module coordinate system and the tracking moduleThe coordinate system O 5 -x 5 y 5 z 5 Registration relationship R between NDI-C ；
The coordinate E of the patient tracer obtained by the installation height of the patient tracer and the optical positioning tracking module nd Obtaining the coordinate B (x) of the midpoint of the spinal segment under the tracking module coordinate system B ，y B ,z B ) Wherein d is the mounting height of the patient tracer:
finally, the remote control module is used for controlling the tracking module according to the coordinate system and the coordinate system O of the tracking module 5 -x 5 y 5 z 5 Registration relationship R between NDI-C Converting the coordinate value of the middle point of the vertebral segment into the coordinate system O 5 -x 5 y 5 z 5 Under the condition, the midpoint of the vertebral segment is obtained in a coordinate system O 5 -x 5 y 5 z 5 Lower coordinate B c
Obtaining the midpoint of the vertebral segment in a coordinate system O 5 -x 5 y 5 z 5 After the coordinates below, taking the midpoint of the vertebral segment as the center of a circle, taking R as the radius as a sphere, and taking R as 5cm and 7cm]The method comprises the steps of carrying out a first treatment on the surface of the And judging whether the coverage area of the sphere completely contains the operation area, and if not, adjusting the middle point of the vertebral segment until the coverage area completely contains the operation area.
The control module is a server or a computer and is remotely connected with the optical positioning and tracking module through communication. The remote control of the C-arm machine can be realized through the control module.
And 4 coplanar non-collinear reflecting balls are arranged on the C-arm machine tracer and the patient tracer, one reflecting ball is used for calibrating the positions of other reflecting balls, and the tracing function is realized under the condition that any reflecting ball is shielded.
The mounting location of the optical position tracking module is located at a position that enables the C-arm machine tracer and the patient tracer to be brought into their field of view.
An automatic control method of a C-arm machine comprises the following steps:
(1) A C-arm machine tracer is arranged on an X-ray generator of a C-arm, and the patient tracer is fastened on the spinous process of a patient's vertebral body; at least three coplanar non-collinear reflecting balls are arranged on the C-arm tracer and the patient tracer;
(2) The optical positioning tracking module respectively acquires signals of the reflecting balls on the C-arm machine tracer and the patient tracer, so as to obtain positions of the C-arm machine tracer and the patient tracer under a tracking module coordinate system, and sends position information of the C-arm machine tracer and the patient tracer under the tracking module coordinate system to the control module;
(3) The control module obtains the position of the C-arm machine tracer under the coordinate system of the C-arm machine according to the installation position of the C-arm machine tracer, and then calculates the midpoint position between the X-ray generator of the C-arm machine and the imaging medium under the coordinate system of the C-arm machine according to the size information of the C-arm machine;
(4) The remote control module obtains a registration relation between the tracking module coordinate system and the C-arm machine coordinate system according to the position of the C-arm machine tracer under the tracking module coordinate system and the position of the C-arm machine tracer under the C-arm machine coordinate system, and then calculates the position of the patient tracer under the C-arm machine coordinate system according to the position information of the patient tracer under the tracking module coordinate system, which is sent by the optical positioning tracking module, and calculates the position of the midpoint of the vertebral body segment of the patient under the C-arm machine coordinate system by combining the installation height of the patient tracer;
(5) The remote control module takes the obtained position of the midpoint of the vertebral segment of the patient under the coordinate system of the C-arm machine as the target position of the midpoint position between the X-ray generator of the C-arm machine and the imaging medium, calculates out the pose information of each joint of the C-arm machine when the midpoint position between the X-ray generator and the imaging medium in the C-arm machine is overlapped with the position of the midpoint of the vertebral segment of the patient by using an inverse kinematics solving method, and sends the obtained pose information of each joint of the C-arm machine to the C-arm machine motion control module;
(6) The C-arm machine motion control module generates control instructions according to pose information of all joints of the C-arm machine and sends the control instructions to the C-arm machine, and the C-arm machine adjusts all joints of the C-arm machine according to the control instructions and moves the midpoint position between the X-ray generator of the C-arm machine and an imaging medium to the midpoint position of a vertebral segment of a patient;
(7) After the C-arm machine reaches the designated position, the C-arm machine motion control system sends a control instruction to control the C-arm of the C-arm machine to rotate 180 degrees to finish scanning.
Compared with the prior art, the invention has the following technical effects:
1. according to the invention, medical staff is released from a high-radiation operating room, and the C-arm machine can be remotely operated in a teleoperation control room.
2. The invention realizes the accurate positioning of the spatial position of the C-arm machine.
Drawings
Fig. 1 is a diagram of an automatic control system of a C-arm machine according to the present invention.
Fig. 2 is a topology diagram of the automatic control system of the C-arm machine of the present invention.
Fig. 3 is a schematic structural diagram of a C-arm machine according to the present invention.
Fig. 4 is a schematic view of the installation of a patient missing device in the present invention.
Fig. 5 is a kinematic coordinate system in the present invention.
Detailed Description
The invention is further elucidated below in connection with the drawings and the specific embodiments.
Fig. 1 is a topological diagram of an automatic control system of a C-arm machine according to the present invention, and as shown in fig. 1, the automatic control system of a C-arm machine according to the present invention includes an optical positioning and tracking module, a remote control module, a motion control module of a C-arm machine, and a C-arm machine. FIG. 2 is a topological diagram of the automatic control system of the C-arm machine, wherein as shown in FIG. 2, a C-arm machine tracer is arranged on an X-ray generator of the C-arm machine, and a patient tracer is fastened on a spinous process of a patient; at least three coplanar non-collinear reflecting balls are arranged on the C-arm tracer and the patient tracer; in the invention, 4 coplanar non-collinear reflecting balls are arranged on the C-arm machine tracer and the patient tracer, one reflecting ball is used for calibrating the positions of other reflecting balls, and the tracing function can be realized under the condition that any reflecting ball is blocked; the optical positioning tracking module is used for respectively acquiring signals of a reflecting ball on the C-arm machine tracer and the patient tracer; in the invention, the installation position of the optical positioning and tracking module needs to ensure that the C-arm machine tracer and the patient tracer are both in the visual field range of the optical positioning and tracking module; the remote control module is in communication connection with the optical positioning tracking module, the C-arm machine motion control module is connected with the remote control module, and the C-arm machine is connected with the C-arm machine motion control module.
The optical positioning tracking module acquires signals of the reflecting balls on the C-arm machine tracer and the patient tracer, positions of the C-arm machine tracer and the patient tracer under a tracking module coordinate system are obtained, and position information of the C-arm machine tracer and the patient tracer under the tracking module coordinate system is sent to the remote control module;
the remote control module is a server or a computer, the position of the C-arm machine tracer under the coordinate system of the C-arm machine is obtained according to the installation position of the C-arm machine tracer, and then the midpoint position between the X-ray generator of the C-arm machine and an imaging medium under the coordinate system of the C-arm machine, namely the position of the point A in fig. 3, is calculated according to the size information of the C-arm machine; meanwhile, the remote control module obtains the registration relation between the tracking module coordinate system and the C-arm machine coordinate system according to the position of the C-arm machine tracer under the tracking module coordinate system and the position of the C-arm machine tracer under the C-arm machine coordinate system, then calculates the position of the patient tracer under the C-arm machine coordinate system according to the position information of the patient tracer under the tracking module coordinate system, sent by the optical positioning tracking module, and calculates the position of the middle point of the vertebral segment of the patient under the C-arm machine coordinate system, namely the position of the point B in fig. 4, according to the height of the bone clamping forceps or the fastening rod. The remote control module takes the obtained position of the midpoint of the vertebral segment of the patient under the coordinate system of the C-arm machine as the target position of the midpoint position between the X-ray generator and the imaging medium of the C-arm machine, calculates out the pose information of the pose of each joint of the C-arm machine when the midpoint position between the X-ray generator and the imaging medium in the C-arm machine is overlapped with the position of the midpoint of the vertebral segment of the patient by using an inverse kinematics solving method, and sends the obtained pose information of the pose of each joint of the C-arm machine to the C-arm machine motion control module; the C-arm machine motion control module generates control instructions according to pose information of all joints of the C-arm machine and sends the control instructions to the C-arm machine, and the C-arm machine adjusts all joints of the C-arm machine according to the control instructions, so that the midpoint position between the X-ray generator of the C-arm machine and an imaging medium is moved to the midpoint position of a vertebral segment of a patient.
Wherein:
(1) The midpoint position of the X-ray generator of the C-arm machine and the image intensifier is calculated as follows:
as shown in fig. 3, the C-arm machine includes five joints, two of which are mobile joints and three of which are revolute joints. The function and name of each joint are shown in the following table:
| joint shaft | Parameters (parameters) | Exercise machine | Name of the name | Function of |
| A 1 | d 1 | Movement of | Lifting and lowering device | Adjusting the height of the C arm |
| A 2 | θ 2 | Rotation of | Swinging movement | Swinging the C-arm in the horizontal plane |
| A 3 | d 3 | Movement of | Translation | Horizontal telescopic C-arm |
| A 4 | θ 4 | Rotation of | Rotating | Rotating the C-arm in the C-plane |
| A 5 | θ 5 | Rotation of | Rotation of | Rotating C-arm |
The positive kinematics of the C-arm machine were analyzed and the kinematic coordinate system of the C-arm machine was established according to the rules of DH method to establish the coordinate system, as shown in fig. 5. Calculation of the base coordinate System O Using DH law 0 -x 0 y 0 z 0 With O 5 -x 5 y 5 z 5 A homogeneous transformation matrix between, wherein, the base coordinate system O 0 -x 0 y 0 z 0 Is a C-arm machine starting point coordinate system, a coordinate system O 5 -x 5 y 5 z 5 Is CA midpoint position coordinate system between the arm machine X-ray generator and the imaging medium;
firstly, a connecting rod D-H parameter table is completed according to the established kinematic coordinate system. The following are provided:
substituting each parameter in the parameter table into the matrix A according to the theoretical knowledge of robot kinematics, and calculating the homogeneous transformation matrix among the coordinate systems of the homogeneous transfer matrix of each joint axis, namelyThe a matrix in robot kinematics is as follows:
wherein,is a coordinate system O n-1 -x n-1 y n-1 z n-1 To O n -x n y n z n The homogeneous transformation matrix between c=cos, s=sin.
Therefore, O 0 -x 0 y 0 z 0 With O 5 -x 5 y 5 z 5 The homogeneous transformation matrix between the two can be obtained by the following formula:
in summary, by using the method of positive kinematic analysis of the robot, the midpoint position between the X-ray generator of the C-arm machine and the imaging medium can be found in the coordinate system O 5 -x 5 y 5 z 5 Coordinates a (x A .y A ,z A ) The C-arm tracer is in a coordinate system O 5 -x 5 y 5 z 5 Coordinate D of (3) c (x Dc ，y Dc ,z Dc )。
(2) Calculating coordinates of a point B in a vertebral segment:
the optical positioning tracking module can calculate the position D of the C-arm machine tracer in real time under the coordinate system of the tracking module ndi And the position E of the patient tracer in the tracking module coordinate system ndi />The remote control module obtains the C-arm machine tracer according to the above in the coordinate system O 5 -x 5 y 5 z 5 Coordinate D of (3) c (x Dc ，y Dc ,z Dc ) Can obtain the tracking module coordinate system and the coordinate system O 5 -x 5 y 5 z 5 Registration relationship R between NDI-C 。
As shown in FIG. 4, the dimensions of the clamping forceps or fastening rod holding the patient tracer are known, so the patient tracer's coordinates E in the tracking module coordinate system, as determined from the optical positioning tracking module ndi The remote control module can obtain the coordinate B (x) of the midpoint of the spinal segment under the coordinate system of the tracking module B ，y B ,z B ) D is the height of the clamping forceps or the fastening rod.
After the coordinates of the middle point of the vertebral segment are obtained, taking the middle point of the vertebral segment as a circle center, taking R as a radius as a sphere, and taking R as 5cm and 7 cm. Judging whether the coverage area of the sphere is completely contained as an operation area, and if not, slightly adjusting the middle point of the vertebral segment until the operation area is completely contained.
Finally remoteThe control module is used for controlling the tracking module according to the coordinate system and the coordinate system O 5 -x 5 y 5 z 5 Registration relationship R between NDI-C Converting coordinate values of the midpoint of the spinal segment to a coordinate system O 5 -x 5 y 5 z 5 Under the condition, the midpoint of the vertebral segment is obtained in a coordinate system O 5 -x 5 y 5 z 5 Lower coordinate B c
(3) C arm machine each joint position adjustment based on inverse kinematics solution:
solving the variable d of the joint of the C-arm machine 5 by inverse motion when the C-arm machine reaches the designated position by using the knowledge of space geometry 1 、θ 2 、d 3 、θ 4 、θ 5 . The following table is the basic information required for inverse kinematics solution.
| Z 0 | The movable axis of the joint 1 and the rotation axis of the joint 2 |
| O 5 | Midpoint between the X-ray generator and the image intensifier, i.e. the position of point A in FIG. 3 |
| O z | ROI (Reagion of Interest) default O z ＝O 5 |
When the C-arm machine scans the spine in the normal position, the middle point of the X-ray generator and the image intensifier of the C-arm machine coincides with the middle point of the spine segment, so that the registration between the spine and the C-arm machine can be started, and at the moment, O z ＝O 5 ＝B c At this time, the C plane of the C-arm machine is perpendicular to x 0 y 0 Plane, at this time theta 4 ＝θ 5 ＝0；d 1 +o 3 o 4 ＝z Bc I.e. d 1 ＝z Bc -a 4 Wherein o 3 o 4 Is o 3 To o 4 Is a distance of (3). From the knowledge of space geometry, tan θ 2 ＝x Bc /y Bc Further, θ can be obtained 2 ＝arctan(x Bc /y Bc ) At the same time, the->
The remote control system calculates 5 joint variables d of the C-arm machine 1 、θ 2 、d 3 、θ 4 、θ 5 And then, each variable value is sent to a motion control system, and the motion control system sends a control instruction to a motion execution module according to the obtained data, so that each joint reaches the target pose. After the C-arm machine reaches the designated position, the C-arm machine motion control system sends a control instruction, and the C-arm of the C-arm machine is rotated for 180 degrees to finish scanning.
The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the specific details of the above embodiments, and various equivalent changes (such as number, shape, position, etc.) may be made to the technical solution of the present invention within the scope of the technical concept of the present invention, and these equivalent changes all belong to the protection of the present invention.
Claims (7)
1. The utility model provides a C arm machine automatic control system which characterized in that: the device comprises a C-arm machine tracer, a patient tracer, an optical positioning tracking module, a control module, a C-arm machine motion control module and a C-arm machine; the control module is in communication connection with the optical positioning and tracking module, the C-arm machine motion control module is connected with the control module, and the C-arm machine motion control module is connected with the C-arm machine;
the C-arm machine tracer is arranged on the C-arm machine, and the patient tracer is arranged on the spinous process of the patient; at least three coplanar non-collinear reflecting balls are arranged on the C-arm machine tracer and the patient tracer;
the optical positioning tracking module is used for respectively acquiring signals of the reflecting balls on the C-arm machine tracer and the patient tracer, obtaining positions of the C-arm machine tracer and the patient tracer under a tracking module coordinate system, and sending the positions to the control module;
the control module obtains the position of the C-arm machine tracer under the coordinate system of the C-arm machine according to the installation position of the C-arm machine tracer, so as to calculate and obtain the midpoint position between the X-ray generator of the C-arm machine and the imaging medium under the coordinate system of the C-arm machine; meanwhile, the control module obtains a registration relation between a tracking module coordinate system and a C-arm machine coordinate system according to the position of the C-arm machine tracer under the C-arm machine coordinate system and the position of the C-arm machine tracer under the tracking module coordinate system, which is sent by the optical positioning tracking module, calculates the position of the patient tracer under the C-arm machine coordinate system according to the position of the patient tracer under the tracking module coordinate system, which is sent by the optical positioning tracking module, and calculates the position of the midpoint of the vertebral segment of the patient under the C-arm machine coordinate system according to the mounting height of the patient tracer;
the control module takes the obtained position of the midpoint of the vertebral segment of the patient under the coordinate system of the C-arm machine as the target position of the midpoint position between the X-ray generator of the C-arm machine and an imaging medium, calculates the pose information of the pose of each joint of the C-arm machine by using an inverse kinematics solving method, and sends the obtained pose information of the pose of each joint of the C-arm machine to the C-arm machine motion control module;
the motion control module of the C-arm machine generates control instructions according to pose information of pose of each joint of the C-arm machine and sends the control instructions to the C-arm machine; the C-arm machine adjusts the pose of each joint of the C-arm machine according to the control instruction; and the C arm movement control module controls the C arm of the C arm machine to rotate 180 degrees to finish scanning after the C arm machine reaches a specified position.
2. The C-arm machine automatic control system according to claim 1, wherein: the control module obtains the position of the C-arm tracer under the coordinate system of the C-arm tracer according to the installation position of the C-arm tracer, and the position is specifically as follows:
the C-arm machine comprises five joints, wherein the lifting joint (A 1 ) The motion parameter of (2) is d 1 Swing joint (A) for swinging C-arm in horizontal plane 2 ) The motion parameter of (2) is theta 2 Translation joint (A) of horizontal telescopic C-arm 3 ) The motion parameter of (2) is d 3 A rotary joint (A) for rotating the C-arm in the C-plane 4 ) The motion parameter of (2) is theta 4 Rotating joint (A) of rotating C arm 5 ) The motion parameter of (2) is theta 5 ；
Establishing a kinematic coordinate system of the C-arm machine according to the rule of establishing the coordinate system by DH method, and calculating a base coordinate system O by using DH rule 0 -x 0 y 0 z 0 And coordinate system O 5 -x 5 y 5 z 5 A homogeneous transformation matrix between the two; wherein the base coordinate system O 0 -x 0 y 0 z 0 Is a C-arm machine starting point coordinate system, a coordinate system O 5 -x 5 y 5 z 5 A midpoint position coordinate system between the C-arm machine X-ray generator and the imaging medium;
and completing a connecting rod D-H parameter table according to the established kinematic coordinate system, wherein the connecting rod D-H parameter table is as follows:
substituting each parameter in the parameter table into the matrix A to calculate the homogeneous transformation matrix among the homogeneous transformation matrix coordinate systems of each joint axis, namelyThe a matrix in robot kinematics is as follows:
wherein,is a coordinate system O n-1 -x n-1 y n-1 z n-1 To O n -x n y n z n A homogeneous transformation matrix between the two, c=cos, s=sin;
therefore, the base coordinate system O 0 -x 0 y 0 z 0 And coordinate system O 5 -x 5 y 5 z 5 The homogeneous transformation matrix between the two is obtained by the following formula:
in summary, the method of forward kinematic analysis of the robot is used to determine the coordinate system O of the midpoint position between the X-ray generator of the C-arm machine and the imaging medium 5 -x 5 y 5 z 5 Coordinates A (x) A .y A ,z A ) O in coordinate system of C-arm tracer 5 -x 5 y 5 z 5 Coordinate D of (2) c (x Dc ，y Dc ,z Dc )。
3. The C-arm machine automatic control system according to claim 1, wherein: the midpoint coordinates of the vertebral segments are calculated as follows:
the optical positioning tracking module calculates the position of the C-arm machine tracer in real time under the coordinate system of the tracking moduleAnd the position of the patient tracer in the tracking module coordinate system>The C-arm tracer is found according to the above in the coordinate system O 5 -x 5 y 5 z 5 Coordinate D of (3) c (x Dc ，y Dc ,z Dc ) Obtaining the tracking module coordinate system and the coordinate system O 5 -x 5 y 5 z 5 Registration relationship R between NDI-C ；
Coordinates of the patient tracer determined by the optical positioning and tracking module through the installation height of the patient tracerObtaining the coordinate B (x) B ，y B ,z B ) Wherein d is the mounting height of the patient tracer:
finally, the control module is used for controlling the tracking module according to the tracking module coordinate system and the coordinate system O 5 -x 5 y 5 z 5 Registration relationship R between NDI-C Converting the coordinate value of the middle point of the vertebral segment into the coordinate system O 5 -x 5 y 5 z 5 Obtaining the midpoint of the cone segment in a coordinate system O 5 -x 5 y 5 z 5 Lower coordinates
4. The C-arm machine automatic control system according to claim 3, wherein: obtaining the midpoint of the cone segment in a coordinate system O 5 -x 5 y 5 z 5 After the coordinates below, taking the midpoint of the cone segment as the center, taking R as the radius as a sphere, and R is 5cm and 7cm]The method comprises the steps of carrying out a first treatment on the surface of the Judging whether the coverage area of the sphere completely contains an operation area, if not, adjusting the middle point of the vertebral body segment until the sphere completely contains the operationThe area is up to.
5. The C-arm machine automatic control system according to claim 1, wherein: the control module is a server and is remotely connected with the optical positioning and tracking module through communication.
6. The C-arm machine automatic control system according to claim 1, wherein: and 4 coplanar non-collinear reflecting balls are arranged on the C-arm machine tracer and the patient tracer, one reflecting ball is used for calibrating the positions of other reflecting balls, and the tracing function is realized under the condition that any reflecting ball is shielded.
7. The C-arm machine automatic control system according to claim 1, wherein: the mounting location of the optical position tracking module is located at a position that enables the C-arm machine tracer and the patient tracer to be brought into their field of view.
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