CN109620274B - Mechanical arm navigation method and system of C-arm machine and computer readable storage medium - Google Patents
Mechanical arm navigation method and system of C-arm machine and computer readable storage medium Download PDFInfo
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Abstract
The invention relates to a mechanical arm navigation method of a C-arm machine, wherein a mechanical arm and the C-arm machine have a fixed relative position relation at one position, and the method comprises the following steps: determining a coordinate relation between a world coordinate system and a three-dimensional image coordinate system; acquiring a plurality of two-dimensional images through an imaging device of the C-arm machine, and generating a three-dimensional image based on the plurality of two-dimensional images; wherein the three-dimensional image is represented in the three-dimensional image coordinate system; obtaining a first position of a load of the robotic arm in the world coordinate system; determining a second position of the load of the mechanical arm in the three-dimensional image coordinate system according to the coordinate relation and the first position; and displaying the mechanical arm loading navigation method of the C-arm machine in the three-dimensional image according to the second position, so that the related positioning precision is improved, the operation complexity in the operation is greatly simplified, and the operation time is shortened.
Description
Technical Field
The invention relates to the field of medical intervention type operation navigation, in particular to a mechanical arm navigation method of a C-arm machine, a system thereof and a computer readable storage medium.
Background
At present, the application of the mechanical arm in the interventional operation is more and more extensive, and the navigation of the mechanical arm in the interventional operation also becomes an important research field. Image-based surgical navigation systems can be classified into optical, mechanical, electromagnetic, and ultrasonic positioning, depending on the tracking and positioning system principles employed. Generally, infrared rays are used for optical positioning, that is, an infrared camera is used to capture an infrared marker installed at a specific position on a mechanical arm, and the infrared marker is firstly positioned in a world coordinate system located in a room, and then the world coordinate system located by a detector is registered with an image coordinate system collected by a medical imaging device (such as a C-arm machine), so that a navigation function is realized.
However, the registration process between the world coordinate system located in the room and the image coordinate system acquired by the medical imaging device is susceptible to errors due to a large number of factors. When the position of the C-arm machine is displaced relative to the world coordinate system of the room, the registration has to be performed anew. Furthermore, the need for an infrared positioning system to arrange multiple infrared transmitters and receivers in a scene increases the complexity of the system architecture. Thus, resulting in longer surgical preparation time, reduced surgical efficiency and increased surgical risk.
Disclosure of Invention
In view of the above, there is a need to provide a robot arm navigation method of a C-arm machine and a system thereof, which have high navigation accuracy, high security, simple system structure and intuition, and provide a computer readable storage medium.
An aspect of the present application provides a robot arm navigation method of a C-arm machine, the robot arm having a fixed relative positional relationship with the C-arm machine in at least one position, the method comprising the steps of:
determining a world coordinate system CwAnd a three-dimensional image coordinate system C3dThe coordinate relationship between them; acquiring a plurality of two-dimensional images through an imaging device of the C-arm machine, and generating a three-dimensional image based on the plurality of two-dimensional images, wherein the three-dimensional image is in a three-dimensional image coordinate system C3dRepresents; obtaining the load of the mechanical arm in the world coordinate system CwA first position in (a); determining the load of the mechanical arm in the three-dimensional image coordinate system C according to the coordinate relation and the first position3dA second position in (a); and displaying the load of the mechanical arm in the three-dimensional image according to the second position.
According to an embodiment of the present invention, there is provided a robot arm navigation method of a C-arm machine, the robot arm having a fixed relative positional relationship with the C-arm machine in at least one position, the method including the steps of: establishing a world coordinate system CwSaid world coordinate system CwOrigin of coordinates OwAssociated with the position of the C-arm machine; acquiring a plurality of two-dimensional images through the C-arm machine; reconstructing to obtain a three-dimensional image based on the plurality of two-dimensional images, and establishing a three-dimensional image coordinate system C on the three-dimensional image3d(ii) a Calculating the world coordinate system CwAnd the three-dimensional image coordinate system C3dIs in a mapping relation of Tw,3d(ii) a Based on the mechanical arm and the C-arm machine in at least one positionAnd the mechanical parameters related to the mechanical arm, determining the load of the mechanical arm in the world coordinate system CwA first position in (a); according to the mapping relation Tw,3dAnd the first position, determining the load of the mechanical arm in the three-dimensional image coordinate system C3dA second position in (a); displaying the load of the robotic arm in the three-dimensional image according to the second position.
According to another embodiment of the invention, a method for navigating a robot arm of a C-arm machine is provided, the robot arm having a fixed relative positional relationship with the C-arm machine in at least one position, a world coordinate system CwThree-dimensional image coordinate system C of reconstructed three-dimensional image3dCoinciding, the method comprising the steps of: acquiring the relative position relation between at least one position of the mechanical arm and the C-arm machine; acquiring a plurality of two-dimensional images according to an imaging device of the C-arm machine; reconstructing the plurality of two-dimensional images to obtain a three-dimensional image; calculating a position of a load of the robot arm in a three-dimensional image based on a relative positional relationship of at least one position of the robot arm to the C-arm machine and a mechanical parameter associated with the robot arm; and displaying the load of the mechanical arm in the three-dimensional image according to the position of the load of the mechanical arm in the three-dimensional image.
According to an aspect of the present invention, there is disclosed a C-arm machine system, comprising: a C-arm machine including an imaging device for acquiring a two-dimensional image; a robotic arm having a fixed relative positional relationship with the C-arm machine in at least one position; a workstation comprising a processor and a memory, wherein a computer program is stored in the memory, which computer program, when being executed by the processor, carries out the steps of the aforementioned method.
According to an aspect of the invention, a computer-readable storage medium is disclosed, having a computer program stored thereon, which when executed by a processor, performs the steps of: determining a world coordinate system CwAnd a three-dimensional image coordinate system C3dThe coordinate relationship between them; acquiring a plurality of two-dimensional images by an imaging device of the C-arm machine and based onThe plurality of two-dimensional images produce a three-dimensional image in which the position of the imaging device is in the world coordinate system CwRepresenting said three-dimensional image in said three-dimensional image coordinate system C3dRepresents; obtaining the load of the mechanical arm in the world coordinate system CwA first position in (a); and determining the load of the mechanical arm in the three-dimensional image coordinate system C according to the coordinate relation and the first position3dIn the second position.
According to an aspect of the invention, a computer-readable storage medium is disclosed, having a computer program stored thereon, which when executed by a processor, performs the steps of: establishing a world coordinate system CwSaid world coordinate system CwOrigin of coordinates OwAssociated with the position of the C-arm machine; acquiring a plurality of two-dimensional images, and acquiring a three-dimensional image based on the plurality of two-dimensional images; establishing a three-dimensional image coordinate system C on the three-dimensional image3d(ii) a Calculating the world coordinate system CwAnd the three-dimensional image coordinate system C3dIs in a mapping relation of Tw,3d(ii) a Determining the load of the mechanical arm in the world coordinate system C based on the relative position relation between at least one position of the load of the mechanical arm and the C-arm machinewA first position in (a); and according to the mapping relation Tw,3dAnd the first position, determining the load of the mechanical arm in the three-dimensional image coordinate system C3dIn the second position. Further, the computer program when executed by a processor further realizes the steps of: displaying the load of the robot arm in the three-dimensional image according to the second position.
According to an aspect of the invention, a computer-readable storage medium is disclosed, having a computer program stored thereon, which when executed by a processor, performs the steps of: acquiring the relative position relation between at least one position of the mechanical arm and the C-arm machine; acquiring a plurality of two-dimensional images according to an imaging device of the C-arm machine, and reconstructing the two-dimensional images to obtain a three-dimensional image; and determining the position of the load of the mechanical arm in the three-dimensional image based on the relative position relation between at least one position of the mechanical arm and the C-arm machine. Further, the computer program when executed by a processor further realizes the steps of: and displaying the load of the mechanical arm in the three-dimensional image according to the position of the load of the mechanical arm in the three-dimensional image.
According to an aspect of the present invention, there is also disclosed a C-arm machine system, comprising: a C-arm machine including an imaging device for acquiring a two-dimensional image; a robotic arm having a fixed relative positional relationship with the C-arm machine in at least one position; a workstation comprising a processor and a memory, wherein a computer program is stored in the memory, which computer program, when executed by the processor, carries out the steps of the computer program stored on the aforementioned computer readable storage medium.
According to the embodiments requiring and not requiring coordinate transformation, navigation of the mechanical arm on the C-arm machine can be realized. Thus, the navigation precision and the operation safety are improved. Meanwhile, the world coordinate system associated with the position of the C-arm machine is directly established, so that the coordinate system of the system does not need to be registered again even if the C-arm machine moves, and the navigation process of the mechanical arm is greatly simplified. In addition, the intuition is increased for the doctor, the operation is favorably carried out, the operation complexity in the operation is greatly reduced, and the operation time is greatly shortened. It will be appreciated by those skilled in the art that the above effects are not exhaustive and are merely exemplary.
Drawings
FIG. 1 is a diagram illustrating an exemplary embodiment of a robot arm navigation method for a C-arm machine;
FIG. 2 is a schematic side view of the C-arm machine according to one embodiment;
FIG. 3 is a flow diagram of a method for navigating a robotic arm of a C-arm machine in one embodiment;
FIG. 4 is a flowchart of a method for navigating a robot arm of a C-arm machine according to another embodiment;
FIG. 5 is a flow diagram of a method for obtaining three-dimensional images in one embodiment;
FIG. 6 is a flow chart of a method of acquiring a three-dimensional image in another embodiment;
FIG. 7 is a flow diagram illustrating a method for calculating a load of a robotic arm in a three-dimensional image according to one embodiment;
FIG. 8 is a flow diagram of a method for obtaining mechanical parameters of a robotic arm, according to one embodiment.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It should be noted that when a portion is referred to as being "secured to" another portion, it may be directly secured to the other portion or there may be an intervening portion. When a portion is said to be "connected" to another portion, it may be directly connected to the other portion or intervening portions may be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Referring to fig. 1 and 2, in one embodiment, an application environment diagram of a method for navigating a robot arm 290 of a C-arm machine 200 is provided, the application environment diagram including the C-arm machine 200 having the robot arm 290, a workstation 140, and an input/output device 120 communicatively coupled to the workstation 140. The input/output device 120 may include, for example, a display, a keyboard, etc., but the input/output device 120 is not limited thereto, and may be other devices for interaction as long as it can be used for interaction between a user and the C-arm machine system 100. The workstation 140 may include a processor and memory, where the memory may have stored therein a computer program that may be executed by the processor to effect navigation of the robotic arm 290. The workstation 140 and the C-arm machine 200 may communicate via a network, such as WiFi, bluetooth, etc., or data lines, and preferably also with the robotic arm 290 on the C-arm machine. A sensor 294 is provided on the joint of the robot arm 290 to acquire motion data of the robot arm 290. In another embodiment, a preprocessor may be provided on the C-arm machine 200 and/or on the robotic arm 290 to preprocess data acquired by the C-arm machine 200 and/or the sensors 294 for communication to the workstation 140.
Specifically, in one embodiment, the C-arm machine 200 includes a frame 230, an arm 220, a lift post 240, and an imaging device 260. In this embodiment, the horizontal direction of the forward and backward movement of the C-arm machine 200 is the world coordinate system CwWherein the forward pushing direction of the C-arm machine 200 is the positive direction of the X-axis, and the vertical direction of the C-arm machine 200 is the direction of the Z-axis, wherein the vertical upward direction is the positive direction of the Z-axis. World coordinate system CwIs perpendicular to the plane defined by the X-axis and the Z-axis. The frame 230 is provided at the bottom thereof with casters so that the C-arm machine 200 can move. A lifting column 240 is provided on the frame 230, with one end of the lifting column 240 being connected to the frame 230 and the other end being connected to the arm 220, such that movement of the lifting column 240 up and down along the Z-axis causes the arm 220 to also translate up and down. The imaging device 260 is disposed on the arm 220. Rotation of arm 220 causes imaging device 260 to rotate therewith. In the present embodiment, the imaging device 260 includes an X-ray source and a flat panel detector, which are respectively provided at opposite ends of the C-shaped arm portion. The X-ray source may emit radiation and be captured by a flat panel detector.
In the above embodiment, a robot arm 290 is further included, wherein the robot arm 290 has a fixed relative positional relationship with the C-arm machine 200 at least at one location. In one example, the robotic arm 290 is secured to the C-arm machine 200. The robot arm 290 has a base that is secured to the C-arm machine 200. In the present embodiment, the robot arm 290 is a single five-axis robot arm, but it should be understood that the embodiments of the present invention are not limited thereto, and the C-arm machine 200 may be provided with two or more robot arms 290, and the robot arms 290 may be other types of robot arms.
The robotic arm 290 is provided with sensors 294 at each joint, which may be of the type including rotation sensors and/or displacement sensors and/or other sensors, including sensors such as those capable of detecting compound motion, to capture all of the motion information of the joints of the robotic arm 290. These robot arm motion information may be transmitted to the workstation 140 for further fusion calculations to obtain the change in the spatial position of the robot arm tip or robot arm load 292 due to the superposition of the joint motions. In another embodiment, the robot 290 or the C-arm 200 may also have a pre-processor that first receives the robot motion information, pre-processes the data, and sends the pre-processed data to the workstation 140.
Further, the type of load 292 that fixedly mounts the robotic arm at the distal end of the robotic arm 290 may include at least an electric drill, a biopsy device, a catheter, and/or a laser light, etc., depending on the requirements of the procedure. One of ordinary skill in the art will readily recognize that the loading of the robotic arm is not so limited.
Referring to FIG. 3, the present invention generally provides a method for navigating a robot arm 290 of a C-arm machine 200, wherein the C-arm machine includes an imaging device, the method comprising the steps of:
step S10: determining a coordinate relation between a world coordinate system and a three-dimensional image coordinate system;
step S20: acquiring a plurality of two-dimensional images through an imaging device of the C-arm machine, and generating a three-dimensional image based on the plurality of two-dimensional images, wherein the position of the imaging device is represented in the world coordinate system, and the three-dimensional image is represented in the three-dimensional image coordinate system;
step S30: obtaining a first position of a load of the robotic arm in the world coordinate system;
step S40: determining a second position of the load of the mechanical arm in the three-dimensional image coordinate system according to the coordinate relation and the first position; and
step S50: displaying the load of the robotic arm in the three-dimensional image according to the second position.
More specifically, referring to fig. 4, in one embodiment, a method for navigating the robotic arm 290 of the C-arm machine 200 is provided, the method comprising the steps of:
step S100: establishing a world coordinate system CwSaid world coordinate system CwOrigin of coordinates OwAssociated with the C-arm machine position.
Selecting a world coordinate system CwOrigin of coordinates OwAnd its coordinate axes, in which the origin of coordinates O is selectedwAssociated with the position of the C-arm machine 200 itself. In other words, the positional shift of the C-arm machine 200 itself does not change the origin of coordinates OwRelative to the C-arm machine 200.
In particular, in the embodiment as shown in fig. 2, the origin of coordinates OwMay be located at the robot base center point 280. When the origin of coordinates OwWhen installed on the robot base center point 280, the direction of the lifting column 240 can be used as the world coordinate system CwAnd is oriented vertically positive, with the direction of horizontal movement of the C-arm machine 200 being the X-axis, the direction of forward pushing by the C-arm machine 200 being positive, and the direction perpendicular to the X-axis and Z-axis being the Y-axis (not shown). Thus, the world coordinate system CwIs moved along with the movement of the C-arm machine, i.e. the selected coordinate origin OwIs associated with the position of the C-arm machine 200 itself.
Step S200: obtaining a three-dimensional image having a three-dimensional image coordinate system C3d。
In one embodiment, the C-arm machine 200 may be provided with a preprocessing processor that preprocesses two-dimensional image data acquired by the imaging device 260 to generate three-dimensional image data in advance and transmits the generated three-dimensional image data to the workstation 140.
In one embodiment, the workstation 140 may receive two-dimensional image data and perform processing of the image data in its processor (e.g., three-dimensional image reconstruction using a reconstruction algorithm) to acquire a three-dimensional image.
After the reconstruction of the three-dimensional image is completed,the three-dimensional image has a three-dimensional image coordinate system C3d。
Step S300, calculating the world coordinate system CwAnd the three-dimensional image coordinate system C3dIs in a mapping relation of Tw,3d。
Calculating a world coordinate system C according to a specific three-dimensional image reconstruction algorithmwAnd the three-dimensional image coordinate system C3dThe contents of the transformation matrix for coordinate transformation between the two are related to the prior art, and will not be described in detail herein.
Step S400: calculating the load of the mechanical arm in the world coordinate system CwTo the first position.
Since at least one position of the robot 290 has a fixed relative positional relationship with the C-arm 200, and the load 292 of the robot is fixed to the robot 290, it is possible to set the world coordinate system CwAfter determination, the load 292 of the robot arm is in world coordinate system CwThe first coordinate of (a) may also be determined. The first position may be the coordinate of the end point of the robot arm's load 292 away from the robot arm 290 or the coordinate of where the robot arm's load 292 connects to the robot arm 290 or the coordinate of a significant part of the robot arm's load 292 according to its own characteristics, such as the bit point of an electric drill bit.
Step S500: according to the mapping relation Tw,3dAnd said first position determining a load of said robot arm in said three-dimensional image coordinate system C3dIn the second position.
By mapping relation Tw,3dE.g. a transformation matrix for transforming coordinates between different coordinate systems, determining a three-dimensional image coordinate system C corresponding to the first position3dIn the second position.
Step S600: displaying the load of the robotic arm in the three-dimensional image according to the second position.
From the calculated second position, the load 292 of the robot arm is displayed at a position corresponding to the three-dimensional image displayed on the input and output device 120. The identification of the load 292 of the robotic arm may be, for example, a graphic or pattern that is distinguishable from voxels in a three-dimensional image, such as a pre-stored three-dimensional model.
In another embodiment, the world coordinate system CwOrigin of coordinates OwMay be provided at the center of the object to be imaged, i.e., the center of the object to be imaged (not shown) between the radiation source and the detector of the imaging device 260, and serves as the reconstruction center of the three-dimensional image. The center may be determined by the intersection of laser beams emitted from at least two different angular positions on the arm 220. In particular, one laser beam is substantially coincident with the direction from which the radiation source emits the beam, such as parallel to the Z-axis, and another laser beam parallel to the X-direction is perpendicular to the aforementioned laser beam, so that the intersection of the two laser beams can determine the center of the object to be imaged, as is also well known to those skilled in the art.
If the center of the object is taken as the center of the world coordinate system and also as the center of the reconstructed coordinate system, then, in the foregoing step, the three-dimensional image coordinate system C mentioned in step S2003dNamely the world coordinate system CwThus, step S300 may be omitted, and the first position of the load of the robot arm in the world coordinate system obtained in step S400 is the second position in the three-dimensional image coordinate system, so step S500 may be omitted.
Referring to fig. 5, the step of acquiring a three-dimensional image includes the following steps:
step S220: a two-dimensional image is acquired with an imaging device.
The image forming apparatus 260 is fixed to the arm 220 and can rotate as the arm 220 rotates. Thus, the imaging device 260 may take different two-dimensional images in different angular directions around the subject.
For example, as shown in FIG. 2, in one embodiment, imaging device 260 includes an X-ray source and a flat panel detector. The X-rays emitted by the X-ray source pass through the object while being attenuated. According to the imaging principle, the attenuated X-rays emitted by the X-ray source are captured by a flat panel detector and converted into corresponding visible light, which is then captured by, for example, a ccd (charge Coupled device) sensor and converted into electrical signals, thereby acquiring a two-dimensional image. It will be appreciated by those skilled in the art that the principles of X-ray imaging of detectors are well known and will not be described or illustrated herein.
Step S240: the three-dimensional image is reconstructed from at least two-dimensional images.
Three-dimensional image reconstruction may be performed using at least two or more two-dimensional images, which are not described herein in detail. It is noted that, according to the three-dimensional image reconstruction algorithm, a plurality of two-dimensional images acquired by the imaging device 260 at different positions are required to complete the three-dimensional reconstruction.
After step S220, the method may further include:
step S230: and carrying out image correction on the two-dimensional image.
Image distortions of the image, such as image distortions or S-distortions, pincushion distortions, etc. caused by mechanical errors, may occur due to the structure of the device itself and the imaging principles. Therefore, as shown in fig. 6, in one embodiment, there may be a step S230 after the step S220 to perform image correction on the acquired two-dimensional graph. It should be understood that various image correction solutions are clearly conceivable to those skilled in the art.
Referring to FIG. 7, a method for displaying how the load of the computing robot is displayed is shown.
In the example of taking the center of the object as the center of the world coordinate system and the three-dimensional image coordinate system, the display of the load of the robot arm in the three-dimensional image may be realized by:
acquiring a relative position relation between at least one position of the mechanical arm and the center (reconstruction center) of the object;
determining a position of a load of the robot arm in a three-dimensional image coordinate system based on a relative positional relationship of at least one position of the robot arm and the load of the robot arm;
and displaying the load of the mechanical arm in the three-dimensional image according to the position of the load of the mechanical arm in the three-dimensional image coordinate system.
In the case where coordinate conversion between the world coordinate system and the three-dimensional image coordinate system is required, the display of the load of the robot arm in the three-dimensional image coordinate system may be realized through steps S420 to S480.
Step S420: mechanical parameters associated with a mechanical arm are acquired.
Specifically, the mechanical parameters may include at least relative position information of at least one position of the robot arm and the C-arm machine and joint position information of the robot arm. In addition to the above information, physical dimensional parameters of the robotic arm may be included.
Step S440, calculating the load of the mechanical arm in the world coordinate system C according to the mechanical parameters related to the mechanical armwOf the first position.
Step S460, according to the world coordinate system CwAnd said three-dimensional image coordinate system C3dThe mapping relation T betweenw,3dDetermining the load of the mechanical arm in the three-dimensional image coordinate system C3dIn the second position.
Step S480: and displaying the load of the mechanical arm in the three-dimensional image according to a second position of the load of the mechanical arm in the three-dimensional image coordinate system.
Specifically, similar to the above-described acquisition of mechanical parameters of the C-arm machine 200, in this embodiment, mechanical parameters associated with the robot arm 290 in use (e.g., the position of the robot arm base fixed on the C-arm machine, the number of axes of the robot arm 290, the size of each segment of the arm of the robot arm 290, etc.) and the relative position (e.g., angular position or axial displacement distance, etc.) between the upstream arm segment and the downstream arm segment at each joint of the robot arm 290 may be entered into the system before operation. Alternatively, the data may be pre-stored in memory according to the model of the robotic arm 290 for reading by the processor when needed.
From the above information obtained in combination with the height of the lifting column 240 of the C-arm machine 200, the load 292 of the robot arm in the world coordinate system C can be further calculated, for example, by a geometrical algorithmwTo the first position.
In another embodiment, the machine parameters associated with the robot arm 290 acquired in step S420 further include type information of the load 292 of the robot arm. The robot load 292 used varies from type to type of interventional procedure, and thus the critical location of the robot load 292 to be navigated (e.g., the drill bit vertex) is not the same. In addition, different robot arm loads 292 may have different physical dimensions. Therefore, in order to accurately navigate the load 292 of the robot arm at the time of the operation, information on the physical dimensions of the load 292 of various robot arms and information on the key positions of the load 292 of the robot arm may be prestored in the system. Before the operation, the user only needs to select the load 292 of the robot arm desired to be used and send a command to the processor, and the processor reads corresponding information.
From the description of steps S420-S480, those skilled in the art will readily understand how to implement determining and/or displaying in the three-dimensional image the second position of the load of the robot arm in the three-dimensional image coordinate system in an example where no conversion between the world coordinate system and the three-dimensional image coordinate system is required.
Referring to fig. 8, in one embodiment, before the step of obtaining the mechanical parameters associated with the mechanical arm, the method further includes the steps of:
and step S422, acquiring motion data of the mechanical arm by using the sensor.
Specifically, the motion data of the mechanical arm at least comprises rotation information of each joint and/or translation displacement information of each joint. A corresponding rotation sensor and/or displacement sensor is disposed at each joint of the robot 290, wherein the rotation sensor is used for capturing joint rotation information, and the displacement sensor is used for capturing joint translation displacement information. These sensors 294 are communicatively coupled to the processor and/or the pre-processing processor and may send captured motion information of the robotic arm to the processor.
Step S424: updating mechanical parameters associated with the mechanical arm according to the acquired motion data of the mechanical arm.
Each joint of the robotic arm 290 is in a world coordinate system C after the robotic arm 290 has movedwThe new coordinates in (a) may be, for example, determined by the DH parameters: (b)Denavit-Hartenberg parameters). For example, after receiving the motion information of the mechanical arm, the processor may obtain a transfer matrix of a joint to be coordinate on the mechanical arm by combining the axis angle of the front joint and the mechanical structure parameter of the front mechanical arm, so as to obtain a new coordinate of the joint to be coordinate in the coordinate system of the mechanical arm after the mechanical arm moves. Because the mechanical arm coordinate system and the world coordinate system CwCan be passed through the transfer vector dAPerforming conversion between coordinates to obtain the coordinates of the joint to be coordinated in the world coordinate system, wherein the vector d is transferredAIs a displacement vector between the mechanical arm coordinate system and the world coordinate system. The position information for each joint is then sent to the processor to update the corresponding mechanical parameters associated with the robotic arm.
In another embodiment, the step of acquiring the motion data of the robot arm using the sensor 294 is performed once every predetermined time. For example, the motion data of the robot arm is automatically acquired at a preset acquisition frequency. Wherein the automatic acquisition frequency is not less than the shaft motion frequency of the robot arm 290 and the motion frequency of the lifting column 240 to avoid distortion of the acquired motion data of the robot arm. According to the present invention, there is also provided a computer-readable storage medium having stored thereon computer-executable instructions which, when executed by a processor, perform the steps of:
determining a coordinate relation between a world coordinate system and a three-dimensional image coordinate system;
acquiring a plurality of two-dimensional images through an imaging device of the C-arm machine, and generating a three-dimensional image based on the plurality of two-dimensional images, wherein the position of the imaging device is represented in the world coordinate system, and the three-dimensional image is represented in the three-dimensional image coordinate system;
obtaining a first position of a load of the robotic arm in the world coordinate system; and
and calculating a second position of the load of the mechanical arm in the three-dimensional image coordinate system according to the coordinate relation and the first position.
Further, the method also comprises the following steps: displaying the load of the robotic arm in the three-dimensional image according to the second position.
In one embodiment, due to the need for coordinate transformation between a world coordinate system and a three-dimensional image coordinate system, a computer-readable storage medium having computer-executable instructions stored thereon is provided, which when executed by a processor implement the steps of: establishing a world coordinate system CwSaid world coordinate system CwOrigin of coordinates OwAssociated with the position of the C-arm machine; acquiring a plurality of two-dimensional images, and acquiring a three-dimensional image based on the plurality of two-dimensional images; establishing a three-dimensional image coordinate system C on the three-dimensional image3d(ii) a Calculating the world coordinate system CwAnd the three-dimensional image coordinate system C3dIs in a mapping relation of Tw,3d(ii) a Calculating the load of the mechanical arm in the world coordinate system C based on the relative position relation between at least one position of the load of the mechanical arm and the C-arm machinewA first position in (a); and according to the mapping relation Tw,3dAnd said first position determining a load of said robot arm in said three-dimensional image coordinate system C3dIn the second position. Further, still include: displaying the load of the robotic arm in the three-dimensional image according to the second position.
In one embodiment, since the center of the object is set as the origin of the world coordinate system and serves as the reconstruction center of the three-dimensional image, coordinate conversion of the world coordinate system and the three-dimensional image coordinate system is not required, thus omitting the process of coordinate conversion. In this case, the computer executable instructions when executed by the processor may perform the steps of: acquiring the relative position relation between at least one position of the mechanical arm and the C-arm machine; acquiring a plurality of two-dimensional images according to an imaging device of a C-arm machine, and reconstructing to obtain a three-dimensional image through the plurality of two-dimensional images; and calculating the position of the load of the mechanical arm in the three-dimensional image based on the relative position relation between at least one position of the mechanical arm and the C-arm machine. Further, still include: and displaying the load of the mechanical arm in the three-dimensional image according to the position of the load of the mechanical arm in the three-dimensional image.
It will be understood by those skilled in the art that all or part of the processes in the methods of the embodiments described above may be implemented by hardware related to instructions of a computer program, and the program may be stored in a computer readable storage medium, for example, in the storage medium of a computer system, and executed by at least one processor in the computer system, so as to implement the processes of the embodiments including the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
It is also noted that a single embodiment may be described as a method depicted as a block flow diagram, a flow diagram. Although a flowchart may describe the steps as a sequential process, multiple steps may be performed in parallel or concurrently. In addition, the order of the steps may be rearranged. The method may be terminated when its steps are completed, but may have additional steps not discussed or included in the figures. In addition, not all steps in any particular described method may be present in all described embodiments.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (15)
1. A method for navigating a mechanical arm of a C-arm machine, wherein the mechanical arm is fixed on the C-arm machine, and the method is characterized by comprising the following steps:
establishing a world coordinate system CwSaid world coordinate system CwOrigin of coordinates OwAssociated with the position of the C-arm machine, and the world coordinate system CwMove with the movement of the C-arm machine;
determining the world coordinate system CwAnd a three-dimensional image coordinate system C3dThe coordinate relationship between them;
intraoperatively acquiring a plurality of two-dimensional images by an imaging device of the C-arm machine, and generating a three-dimensional image based on the plurality of two-dimensional images, wherein the three-dimensional image is in the three-dimensional image coordinate system C3dRepresents;
obtaining the load of the mechanical arm in the world coordinate system CwA first position in (a);
determining the load of the mechanical arm in the three-dimensional image coordinate system C according to the coordinate relation and the first position3dA second position in (a); and displaying the load of the mechanical arm in the three-dimensional image according to the second position.
2. The navigation method according to claim 1, wherein the determining the world coordinate system CwAnd a three-dimensional image coordinate system C3dThe coordinate relationship between them includes:
calculating the world coordinate system CwAnd the three-dimensional image coordinate system C3dIs in a mapping relation of Tw,3d。
3. The navigation method according to claim 1, further comprising, after the step of intraoperatively acquiring a plurality of two-dimensional images by an imaging device of the C-arm machine, the steps of: and carrying out image correction on the two-dimensional image.
4. The navigation method according to claim 1, wherein the obtaining of the load of the robot arm is performed in the world coordinate system CwIs based on the machineThe fixed position of the robotic arm in the C-arm machine and the mechanical parameters associated with the robotic arm.
5. The navigation method according to claim 4, wherein the machine parameter associated with the robot arm includes at least joint position information of the robot arm and/or type information of a load of the robot arm.
6. A method for navigating a mechanical arm of a C-arm machine, wherein the mechanical arm is fixed on the C-arm machine, and the method comprises the following steps:
establishing a world coordinate system CwSaid world coordinate system CwOrigin of coordinates OwAssociated with the position of the C-arm machine, and the world coordinate system CwMove with the movement of the C-arm machine;
acquiring a plurality of two-dimensional images intraoperatively by the C-arm machine;
reconstructing to obtain a three-dimensional image based on the plurality of two-dimensional images, and establishing a three-dimensional image coordinate system C on the three-dimensional image3d；
Calculating the world coordinate system CwAnd the three-dimensional image coordinate system C3dIs in a mapping relation of Tw,3d；
Determining the load of the robotic arm in the world coordinate system C based on the fixed position of the robotic arm on the C-arm machine and mechanical parameters associated with the robotic armwA first position in (a);
according to the mapping relation Tw,3dAnd the first position, determining the load of the mechanical arm in the three-dimensional image coordinate system C3dA second position in (a);
displaying the load of the robotic arm in the three-dimensional image according to the second position.
7. The navigation method according to claim 6, further comprising, after the step of intraoperatively acquiring a plurality of two-dimensional images by means of the C-arm machine, the steps of:
and carrying out image correction on the two-dimensional image.
8. Navigation method according to claim 7, wherein the machine parameters associated with the robot arm comprise at least joint position information of the robot arm and/or type information of a load of the robot arm.
9. The navigation method according to claim 6, wherein the load of the robot arm is determined in the world coordinate system CwBefore the step of the first position, the method further comprises the steps of:
acquiring motion data of the mechanical arm by using a sensor;
and updating the mechanical parameters of the mechanical arm according to the acquired motion data of the mechanical arm.
10. The navigation method according to claim 9, wherein the motion data of the robot arm includes at least joint rotation information and/or joint translation displacement information.
11. The navigation method according to claim 9, wherein the step of acquiring the motion data of the robot arm using the sensor is performed once every predetermined time.
12. A C-arm machine system, comprising:
a C-arm machine including an imaging device for acquiring a two-dimensional image;
the mechanical arm is fixed at a fixed position of the C-arm machine;
a workstation comprising a processor and a memory, wherein the memory has stored therein a computer program which, when executed by the processor, carries out the steps of the method of any one of claims 1 to 11.
13. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of:
establishing a world coordinate system CwSaid world coordinate system CwOrigin of coordinates OwAssociated with the position of the C-arm machine, and the world coordinate system CwMove with the movement of the C-arm machine;
determining a world coordinate system CwAnd a three-dimensional image coordinate system C3dThe coordinate relationship between them;
intraoperatively acquiring a plurality of two-dimensional images by an imaging device of a C-arm machine, and generating a three-dimensional image based on the plurality of two-dimensional images, wherein the three-dimensional image is in a three-dimensional image coordinate system C3dRepresents;
obtaining the load of the mechanical arm in the world coordinate system CwWherein the robotic arm is secured to the C-arm machine; and
determining the load of the mechanical arm in the three-dimensional image coordinate system C according to the coordinate relation and the first position3dA second position in (a); and
displaying the load of the robotic arm in the three-dimensional image according to the second position.
14. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of:
establishing a world coordinate system CwSaid world coordinate system CwOrigin of coordinates OwAssociated with the position of the C-arm machine, and the world coordinate system CwMove with the movement of the C-arm machine;
acquiring a plurality of two-dimensional images intraoperatively by the C-arm machine, and acquiring a three-dimensional image based on the plurality of two-dimensional images;
establishing a three-dimensional image coordinate system C on the three-dimensional image3d；
Calculating the world coordinate system CwAnd the three-dimensional image coordinate system C3dIs in a mapping relation of Tw,3d；
Determining the load of the mechanical arm in the world coordinate system C based on the relative position relation between at least one position of the load of the mechanical arm and the C-arm machinewWherein the robotic arm is secured to the C-arm machine; and
according to the mapping relation Tw,3dAnd the first position, determining the load of the mechanical arm in the three-dimensional image coordinate system C3dIn the second position.
15. The computer-readable storage medium according to claim 14, wherein the computer program, when executed by a processor, further performs the steps of:
displaying the load of the robot arm in the three-dimensional image according to the second position.
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| CN201811518714.6A CN109620274B (en) | 2018-12-12 | 2018-12-12 | Mechanical arm navigation method and system of C-arm machine and computer readable storage medium |
| EP19810160.2A EP3784133B8 (en) | 2018-05-31 | 2019-05-31 | Systems and methods for controllinig an x-ray imaging device |
| PCT/CN2019/089646 WO2019228530A1 (en) | 2018-05-31 | 2019-05-31 | Systems and methods for controllinig an x-ray imaging device |
| US17/105,710 US11937964B2 (en) | 2018-05-31 | 2020-11-27 | Systems and methods for controlling an X-ray imaging device |
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| EP3784133B8 (en) | 2018-05-31 | 2024-07-17 | Shanghai United Imaging Healthcare Co., Ltd. | Systems and methods for controllinig an x-ray imaging device |
| CN113059558B (en) * | 2020-01-02 | 2023-01-20 | 京东方科技集团股份有限公司 | Control method and terminal of medical mechanical arm and readable medium |
| CN111388089B (en) * | 2020-03-19 | 2022-05-20 | 京东方科技集团股份有限公司 | Treatment equipment, registration method and registration device thereof |
| CN111973212B (en) * | 2020-08-19 | 2022-05-17 | 杭州三坛医疗科技有限公司 | Parameter calibration method and parameter calibration device |
| CN114271856B (en) * | 2021-12-27 | 2022-10-11 | 开普云信息科技股份有限公司 | Three-dimensional ultrasonic image generation method and device, storage medium and equipment |
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