CN110353774A

CN110353774A - Assist Needle-driven Robot and its control method, computer equipment, storage medium

Info

Publication number: CN110353774A
Application number: CN201910412717.XA
Authority: CN
Inventors: 盖炜; 苏健
Original assignee: Shenzhen Mingjie Medical Technology Co Ltd
Current assignee: Shenzhen Mingjie Medical Technology Co Ltd
Priority date: 2018-12-15
Filing date: 2019-05-17
Publication date: 2019-10-22
Anticipated expiration: 2039-05-17
Also published as: CN110353774B

Abstract

The invention proposes a kind of auxiliary Needle-driven Robot and its control method, computer equipment, storage mediums, and assisting Needle-driven Robot control method includes: to receive the in-vivo image data and puncture intended path of the occlusion body table skeleton of patient；Patient body-surface is scanned by the scanner being mounted in robot to obtain patient body-surface point cloud data；Patient body-surface point cloud data is registrated with the in-vivo image data of patient；Puncture intended path under in-vivo image data coordinate system is converted into the puncture intended path under the mechanical arm tool coordinates system of robot；The preset position of the puncture needle of installation on the robotic arm is calculated according to the puncture intended path under mechanical arm tool coordinates system；Puncture needle on control mechanical arm is moved to preset position.The technical scheme is that internal three-dimensional data is merged with body surface three-dimensional data, the reliability of vision guide is improved, provides advantageous auxiliary tool for the puncture procedure in medical operating.

Description

Assist Needle-driven Robot and its control method, computer equipment, storage medium

Technical field

The present invention relates to technical field of medical equipment more particularly to a kind of auxiliary Needle-driven Robot and its control methods, meter Calculate machine equipment, storage medium.

Background technique

Robot assisted puncture is that puncture needle hovering is held by manipulator in patient body-surface, and entry point, inserting needle direction is complete Fixed technology entirely, doctor need to only confirm the correctness of position, then puncture needle is pushed into patient's body, and then manipulator release is worn Pricker completes puncture process.Auxiliary puncture this function avoid hold puncture needle because of doctor caused by inserting needle direction not Accurate problem.

Existing auxiliary Needle-driven Robot vision guide technology is imaged using two-dimentional camera according to one or more The data of head imaging identify object, and calculate the pose of object.The data of two-dimentional camera imaging do not have depth information, it is desirable that The pose for solving object can only carry out complicated mathematical reconfiguration to the imaging data of multiple angles.For the simple geometry of regular shape Body can also be rebuild by means of the identification of the characteristic quantities such as side length, radius, and for no special curved surface as patient body then without Method rebuilds three-D profile by two-dimentional camera.This allow for robotic vision guidance system can not by patient body-surface at As information is effectively blended with tomographic datas such as CT, MRI, for the puncture path formulated based on tomographic data without Method is accurately embodied in the vision guide of body surface.

Moreover, difference of the two-dimentional camera identification object dependent on pixel value in imaging data, this requires objects and back Scape must have dramatically different comparison of light and shade or color difference in imaging data, otherwise may can not be identified contour of object or It judges by accident, especially to the medical operating scene for being not easy to modification color and ambient light, it more difficult in reliably identifying object And carry out vision guide.

Summary of the invention

The invention is realized in this way first aspect present invention provides a kind of auxiliary Needle-driven Robot control method, comprising:

It receives the in-vivo image data of the occlusion body table skeleton of patient and punctures intended path；

Patient body-surface is scanned by the scanner being mounted in robot to obtain patient body-surface point cloud data；

Patient body-surface point cloud data is registrated with the in-vivo image data of patient；

Puncture intended path under in-vivo image data coordinate system is converted under the mechanical arm tool coordinates system of robot Puncture intended path；

The pre- of the puncture needle of installation on the robotic arm is calculated according to the puncture intended path under mechanical arm tool coordinates system Seated position；Puncture needle on control mechanical arm is moved to preset position.

Optionally, above-mentioned auxiliary Needle-driven Robot control method, step " receive the internal figure of the occlusion body table skeleton of patient As data " it is to receive CT tomographic data or B ultrasound image data or magnetic resonance image data.

Optionally, above-mentioned auxiliary Needle-driven Robot control method, preset position are that puncture needle hovers over above patient body-surface Position.

Optionally, above-mentioned auxiliary Needle-driven Robot control method, puncture intended path include puncture inserting needle position coordinates and Inserting needle direction vector.

Optionally, above-mentioned auxiliary Needle-driven Robot control method, step is " by the internal of patient body-surface point cloud data and patient Image data is registrated " after, further include sub-step: calculating the conversion of scanner coordinate system and in-vivo image data coordinate system Matrix M；" the puncture intended path under in-vivo image data coordinate system is converted under the mechanical arm tool coordinates system of robot Puncture intended path " is that the transition matrix N and transition matrix M calculating according to scanner coordinate system and mechanical arm tool coordinates system turn It changes.

Optionally, above-mentioned auxiliary Needle-driven Robot control method, the clasper of mechanical arm will be mounted on by further comprising the steps of: Axis is arranged to parallel with the x-axis of mechanical arm tool coordinates system；Mechanical arm is set by the aiming point on the axis of clasper Tool center point.

Optionally, above-mentioned auxiliary Needle-driven Robot control method further comprises the steps of: and obtains scanner coordinate system and mechanical arm Transformation matrix M between tool coordinates system.

Optionally, above-mentioned auxiliary Needle-driven Robot control method, step " obtain scanner coordinate system and mechanical arm tool are sat Transformation matrix M " between mark system includes: to scan at least three calibration elements by scanner, obtains calibration element in scanner coordinate Coordinate data under system；According to coordinate data of the calibration element under mechanical arm tool coordinates system and calibration element in scanner coordinate system Under coordinate data, the transformation matrix between scanner coordinate system and mechanical arm tool coordinates system is calculated.

Optionally, above-mentioned auxiliary Needle-driven Robot control method, further comprising the steps of: will be under in-vivo image data coordinate system It punctures inserting needle position coordinates and inserting needle direction vector is converted into the puncture inserting needle position under the mechanical arm tool coordinates system of robot Coordinate and inserting needle direction vector, comprising: obtain the first transformation matrix and the second transformation matrix；It is converted in vivo with homogeneous coordinates Puncture inserting needle position coordinates under image data coordinate system are T, and inserting needle direction vector is V；It will be internal according to following calculation formula Puncture inserting needle position coordinates and inserting needle direction vector under image data coordinate system are converted into wearing under mechanical arm tool coordinates system Lunge pin position coordinate T' and inserting needle direction vector V':

M is the first transformation matrix, and N is the second transformation matrix.

Optionally, above-mentioned auxiliary Needle-driven Robot control method, further comprises the steps of: according under mechanical arm tool coordinates system It punctures inserting needle position coordinates and inserting needle direction vector calculates the preset position of the puncture needle of installation on the robotic arm；Control is mechanical Puncture needle on arm is moved to preset position, comprising: calculates clasper according to the following formula in mechanical arm tool coordinates system lower edge Translational movement X, Y, Z of x, y, z axis direction and around z, y, the rotation angle A of x-axis direction, B, C:

Wherein, t_x1、t_y1、t_z1To puncture inserting needle position coordinates T', S_x、S_y、S_ZFor the tool under mechanical arm tool coordinates system Center point coordinate, V_x1、V_y1、V_Z1For inserting needle direction vector V'；According to translational movement X, Y, Z along x, y, z axis direction and around z, y, x The rotation angle A of axis direction, B, C form movement instruction (X, Y, Z, A, B, C)；Movement instruction is executed, it is mobile to control puncture needle It hovers to preset position.

According to another aspect of the present invention, a kind of auxiliary Needle-driven Robot control method is provided, comprising:

The in-vivo image data for receiving the occlusion body table skeleton of patient, calculate in-vivo image number according to in-vivo image data According to the puncture intended path under coordinate system；

Patient body-surface is scanned by scanner to obtain patient body-surface 3D rendering data；By patient body-surface 3D rendering data with The in-vivo image data of patient are registrated；

Puncture intended path under in-vivo image data coordinate system is converted under the mechanical arm tool coordinates system of robot Puncture intended path；The puncture of installation on the robotic arm is calculated according to the puncture intended path under mechanical arm tool coordinates system The preset position of needle；

Puncture needle on control mechanical arm is moved to preset position.

Optionally, above-mentioned auxiliary Needle-driven Robot control method, further comprising the steps of: preset position is that puncture needle hovers over trouble Position above person's body surface.

Optionally, above-mentioned auxiliary Needle-driven Robot control method, further comprising the steps of: and puncturing intended path includes puncturing inserting needle Position coordinates and inserting needle direction vector.

In accordance with a further aspect of the present invention, a kind of auxiliary Needle-driven Robot control method is provided, comprising:

The in-vivo image Data Data for receiving the occlusion body table skeleton of patient, calculates internal figure according to in-vivo image data As the preset position of the puncture needle under data coordinate system；

The preset position of puncture needle under in-vivo image data coordinate system is converted into the mechanical arm tool coordinates of robot The preset position of puncture needle under system；Puncture needle on control mechanical arm is moved to preset position.

Optionally, above-mentioned auxiliary Needle-driven Robot control method, step " receive the internal figure of the occlusion body table skeleton of patient As Data Data " it is to receive CT tomographic data or B ultrasound image data or magnetic resonance image data.

According to another aspect of the invention, a kind of auxiliary Needle-driven Robot control method is provided, comprising:

It receives the in-vivo image data of the occlusion body table skeleton of patient and punctures intended path；By being mounted in robot Scanner scanning patient body-surface to obtain patient's 3D rendering data；

Patient's 3D rendering data are registrated with the in-vivo image data of patient；It will be under in-vivo image data coordinate system It punctures intended path and is converted into the puncture intended path under the mechanical arm tool coordinates system of robot；

It obtains the in-vivo image Data Data of the occlusion body table skeleton of patient and punctures intended path；

According to another aspect of the present invention, a kind of auxiliary Needle-driven Robot is provided, comprising:

Mechanical arm；Head is mounted on mechanical arm, for fixing puncture needle；

Scanner is installed on the robotic arm, for scanning patient body-surface 3D rendering data；

Processing unit, the body for the occlusion body table skeleton to patient's 3D surface images data and patient from scanner Interior image data is registrated；Puncture intended path under in-vivo image data coordinate system is converted into robot by processing unit Puncture intended path under mechanical arm tool coordinates system；Processing unit is according to the puncture intended path under mechanical arm tool coordinates system Calculate the preset position of the puncture needle of installation on the robotic arm；Control unit, for according under mechanical arm tool coordinates system It punctures intended path control puncture needle and is moved to preset position.

Optionally, above-mentioned auxiliary Needle-driven Robot control device, the axis of clasper and the x-axis of mechanical arm tool coordinates system In parallel；Aiming point on the axis of clasper is the tool center point of mechanical arm.

Optionally, above-mentioned auxiliary Needle-driven Robot control device, puncture intended path include puncture inserting needle position coordinates and Inserting needle direction vector.

Optionally, above-mentioned auxiliary Needle-driven Robot control device, processing unit and CT equipment data connection, in-vivo image at As data and intended path is punctured from CT equipment.

According to another aspect of the present invention, a kind of computer equipment is provided, including memory, processor and is stored in In reservoir and the computer program that can run on a processor, realizes when processor executes computer program and worn based on a kind of auxiliary The step of piercing robot control method.

According to another aspect of the present invention, a kind of computer readable storage medium is provided, computer readable storage medium is deposited The step of containing computer program, a kind of auxiliary Needle-driven Robot control method realized when computer program is executed by processor.

The invention proposes a kind of auxiliary Needle-driven Robot control method, device, equipment and storage mediums, assist puncture machine Device people's control method includes: to receive the in-vivo image data and puncture intended path of the occlusion body table skeleton of patient；Pass through installation Scanner scanning patient body-surface in robot is to obtain patient body-surface point cloud data；By patient body-surface point cloud data and patient In-vivo image data be registrated；Puncture intended path under in-vivo image data coordinate system is converted into the machinery of robot Puncture intended path under arm tool coordinate system；It is calculated and is mounted on according to the puncture intended path under mechanical arm tool coordinates system The preset position of puncture needle on mechanical arm；Puncture needle on control mechanical arm is moved to preset position.Technical solution of the present invention Two-dimentional camera is substituted with the three-dimensional scanner of producible cloud as robotic vision and guides system, can pass through list A angle scanning just obtains the three-dimensional point cloud with depth information, since the sweep spacing of cloud is very short, can realize easily pair Then the large area scanning of patient body-surface carries out 3-D image with the tomographic datas such as CT, MRI and merges, be based on tomography at The inserting needle path of the organ and planning delineated as data is directly tagged in body surface point cloud data, to guide manipulator that will wear Pricker is placed in correct position, for doctor push pin completion puncture, while the technical scheme is that by internal three-dimensional data with Body surface three-dimensional data is merged, and is eliminated the complex calculation and limitation for rebuilding 3-D image by two dimensional image, is simplified The calculation amount of vision guide improves the reliability of vision guide, provides for the puncture procedure in medical operating advantageous auxiliary Assistant engineer's tool.

Detailed description of the invention

It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these Attached drawing obtains other attached drawings.

Fig. 1 is a kind of flow chart for auxiliary Needle-driven Robot control method that the embodiment of the present invention one provides；

Fig. 2 is a kind of operation schematic diagram for assisting Needle-driven Robot control method of the present invention；

Fig. 3 is a kind of flow chart for assisting Needle-driven Robot control method provided by Embodiment 2 of the present invention；

Fig. 4 is a kind of flow chart for auxiliary Needle-driven Robot control method that the embodiment of the present invention three provides；

Fig. 5 is a kind of flow chart for auxiliary Needle-driven Robot control method that the embodiment of the present invention four provides；

Fig. 6 is a kind of flow chart for auxiliary Needle-driven Robot control method that the embodiment of the present invention five provides；

Fig. 7 is the machine for implementing one embodiment of auxiliary Needle-driven Robot control method of the embodiment of the present invention one to five People's structural schematic diagram；

Fig. 8 is the partial enlarged view of the head of Fig. 7；

Fig. 9 is the machine for implementing another embodiment of auxiliary Needle-driven Robot control method of the embodiment of the present invention one to five Device people's structural schematic diagram；

Figure 10 is the coordinate calibration schematic diagram of Fig. 9 mechanical arm；

Figure 11 is a preferred flow charts of the control method of the auxiliary Needle-driven Robot of Fig. 9 of the present invention；

Figure 12 is the specific flow chart of the step S10 in Figure 11；

Figure 13 is the another specific flow chart of the step S10 in Figure 11；

Figure 14 is a kind of structural schematic diagram for assisting Needle-driven Robot control device provided in an embodiment of the present invention；

Figure 15 is the structural schematic diagram of computer equipment provided in an embodiment of the present invention.

Specific embodiment

In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.

In order to illustrate technical solution of the present invention, the following is a description of specific embodiments.

The embodiment of the present invention provides a kind of auxiliary Needle-driven Robot control method, as depicted in figs. 1 and 2, control method packet It includes:

Step S11. receives the in-vivo image data of the occlusion body table skeleton of patient and punctures intended path.

In step s 11, the in-vivo image data for receiving the occlusion body table skeleton of patient, which refer to, receives CT tomographic imaging number According to or B ultrasound image data or magnetic resonance image data, puncture intended path refer to doctor combine the practical patient's condition for puncturing object and Personal experience, integration obtain the puncture path from patient body-surface to lesion target spot.

Step S12. scans patient body-surface by the scanner being mounted in robot to obtain patient body-surface point cloud data.

In step s 12, on the robotic arm, scanner can be laser scanner, by with scanner for scanner installation Centered on, the target point of patient body-surface is scanned to the distance of scanner central point, in turn to the method by laser pulse ranging Obtain point cloud data of the patient body-surface under scanner coordinate system.

Patient body-surface point cloud data is registrated by step S13. with the in-vivo image data of patient.

In step s 13, it is automatically performed between patient body-surface cloud data and the in-vivo image data of patient and is schemed by computer As fusion, rebuild, obtain the in-vivo image data of table point cloud data and patient into three-dimensional fusion image.

Puncture intended path under in-vivo image data coordinate system is converted into the mechanical arm tool of robot by step S14. Puncture intended path under coordinate system.

In step S14, the puncture intended path under in-vivo image data coordinate system is converted into the mechanical arm of robot Puncture intended path under tool coordinates system is according to the transition matrix N of scanner coordinate system and mechanical arm tool coordinates system and to sweep The transition matrix M for retouching device coordinate system and in-vivo image data coordinate system calculates conversion, and puncturing intended path includes puncturing inserting needle position Coordinate and inserting needle direction vector are set, conversion is calculated by transition matrix N and transition matrix M and is obtained, available machinery arm tool Puncture inserting needle position coordinates and inserting needle direction vector under coordinate system.

Step S15. calculates installation wearing on the robotic arm according to the puncture intended path under mechanical arm tool coordinates system The preset position of pricker,

In step S15, according to the puncture inserting needle position coordinates and inserting needle direction vector meter under mechanical arm tool coordinates system The preset position of the puncture needle of installation on the robotic arm is calculated, preset position is that puncture needle hovers over the position above patient body-surface It sets.

Puncture needle on step S16. control mechanical arm is moved to preset position.

In step s 16, the translational movement and rotation amount of mechanical arm are obtained according to preset position coordinate, and then will be on mechanical arm Puncture needle be moved to preset position.

The embodiment of the present invention substitutes view of the two-dimentional camera as robot with the three-dimensional scanner for producing point cloud Feel guidance system, the three-dimensional point cloud with depth information can be just obtained by single angle scanning.Due between the scanning of cloud Every very short, the large area scanning to patient body-surface can be realized easily, then carried out with tomographic datas such as CT, MRI three-dimensional The inserting needle path of the organ and planning delineated based on tomographic data is directly tagged to body surface point cloud data and worked as by image co-registration In, to guide manipulator that puncture needle is placed in correct position, pushes pin for doctor and complete to puncture.

Fig. 3 is a kind of flow chart for assisting Needle-driven Robot control method of the embodiment of the present invention two, and control method includes:

Step S21. receives the in-vivo image data of the occlusion body table skeleton of patient, calculates body according to in-vivo image data Puncture intended path under interior image data coordinate system.

In the step s 21, the in-vivo image data for receiving the occlusion body table skeleton of patient, which refer to, receives CT tomographic imaging number According to or B ultrasound image data or magnetic resonance image data, puncture intended path refer to according to the practical patient's condition for puncturing object obtain from Patient body-surface to lesion target spot puncture path.

Step S22. scans patient body-surface by scanner to obtain patient body-surface 3D rendering data.

Patient body-surface 3D rendering data are registrated by step S23. with the in-vivo image data of patient；

In step S23, it is automatically performed between patient body-surface cloud data and the in-vivo image data of patient and is schemed by computer As fusion, rebuild, obtain the in-vivo image data of table point cloud data and patient into three-dimensional fusion image.

Puncture intended path under in-vivo image data coordinate system is converted into the mechanical arm tool of robot by step S24. Puncture intended path under coordinate system；

In step s 24, the puncture intended path under in-vivo image data coordinate system is converted into the mechanical arm of robot Puncture intended path under tool coordinates system is according to the transition matrix N of scanner coordinate system and mechanical arm tool coordinates system and to sweep The transition matrix M for retouching device coordinate system and in-vivo image data coordinate system calculates conversion, and puncturing intended path includes puncturing inserting needle position Coordinate and inserting needle direction vector are set, conversion is calculated by transition matrix N and transition matrix M and is obtained, available machinery arm tool Puncture inserting needle position coordinates and inserting needle direction vector under coordinate system.

Step S25. calculates installation wearing on the robotic arm according to the puncture intended path under mechanical arm tool coordinates system The preset position of pricker；

In step s 25, according to the puncture inserting needle position coordinates and inserting needle direction vector meter under mechanical arm tool coordinates system The preset position of the puncture needle of installation on the robotic arm is calculated, preset position is that puncture needle hovers over the position above patient body-surface It sets.

Puncture needle on step S26. control mechanical arm is moved to preset position.

In step S26, the translational movement and rotation amount of mechanical arm are obtained according to preset position coordinate, and then will be on mechanical arm Puncture needle be moved to preset position.

The embodiment of the present invention substitutes two-dimentional camera with three-dimensional scanner as robotic vision and guides system, obtains Take patient body-surface 3D rendering data, then carry out 3-D image with the tomographic datas such as CT, MRI and merge, be based on tomography at The inserting needle path of the organ and planning delineated as data is directly tagged in surface images, to guide manipulator by puncture needle It is placed in correct position, pushes pin for doctor and completes to puncture.

Fig. 4 is a kind of flow chart of auxiliary Needle-driven Robot control method of the embodiment of the present invention three, and control method includes:

Step S31. receives the in-vivo image Data Data of the occlusion body table skeleton of patient, is calculated according to in-vivo image data The preset position of puncture needle under in-vivo image data coordinate system out.

In step S31, the in-vivo image data for receiving the occlusion body table skeleton of patient, which refer to, receives CT tomographic imaging number According to or B ultrasound image data or magnetic resonance image data, the preset position of puncture needle refer to according to puncturing image data in subject In the practical patient's condition obtain inserting needle position coordinates and inserting needle direction vector from patient body-surface to lesion target spot.

Step S32. scans patient body-surface by scanner to obtain patient body-surface 3D rendering data；

Patient body-surface 3D rendering data are registrated by step S33. with the in-vivo image data of patient；

In step S33, it is automatically performed between patient body-surface cloud data and the in-vivo image data of patient and is schemed by computer As fusion, rebuild, obtain the in-vivo image data of table point cloud data and patient into three-dimensional fusion image.

The preset position of puncture needle under in-vivo image data coordinate system is converted into the mechanical arm of robot by step S34. The preset position of puncture needle under tool coordinates system；

Puncture intended path under in-vivo image data coordinate system is converted under the mechanical arm tool coordinates system of robot Puncture intended path be transition matrix N according to scanner coordinate system and mechanical arm tool coordinates system and scanner coordinate system with The transition matrix M of in-vivo image data coordinate system calculates conversion, and puncturing intended path includes puncturing inserting needle position coordinates and inserting needle Direction vector calculates conversion by transition matrix N and transition matrix M and obtains, wearing under available mechanical arm tool coordinates system Lunge pin position coordinate and inserting needle direction vector.

Puncture needle on step S35. control mechanical arm is moved to preset position.

Fig. 5 is a kind of flow chart of auxiliary Needle-driven Robot control method of the embodiment of the present invention four, and control method includes:

Step S41. receives the in-vivo image data of the occlusion body table skeleton of patient and punctures intended path；

In step S41, the in-vivo image data for receiving the occlusion body table skeleton of patient, which refer to, receives CT tomographic imaging number According to or B ultrasound image data or magnetic resonance image data, puncture intended path refer to doctor combine the practical patient's condition for puncturing object and Personal experience, integration obtain the puncture path from patient body-surface to lesion target spot.

Step S42. scans patient body-surface by the scanner being mounted in robot to obtain patient's 3D rendering data；

Patient's 3D rendering data are registrated by step S43. with the in-vivo image data of patient；

In step S43, it is automatically performed between patient body-surface cloud data and the in-vivo image data of patient and is schemed by computer As fusion, rebuild, obtain the in-vivo image data of table point cloud data and patient into three-dimensional fusion image.

Puncture intended path under in-vivo image data coordinate system is converted into the mechanical arm tool of robot by step S44. Puncture intended path under coordinate system；

In step S44, the puncture intended path under in-vivo image data coordinate system is converted into the mechanical arm of robot Puncture intended path under tool coordinates system is according to the transition matrix N of scanner coordinate system and mechanical arm tool coordinates system and to sweep The transition matrix M for retouching device coordinate system and in-vivo image data coordinate system calculates conversion, and puncturing intended path includes puncturing inserting needle position Coordinate and inserting needle direction vector are set, conversion is calculated by transition matrix N and transition matrix M and is obtained, available machinery arm tool Puncture inserting needle position coordinates and inserting needle direction vector under coordinate system.

Step S45. calculates installation wearing on the robotic arm according to the puncture intended path under mechanical arm tool coordinates system The preset position of pricker；

In step S45, according to the puncture inserting needle position coordinates and inserting needle direction vector meter under mechanical arm tool coordinates system The preset position of the puncture needle of installation on the robotic arm is calculated, preset position is that puncture needle hovers over the position above patient body-surface It sets.

Puncture needle on step S46. control mechanical arm is moved to preset position.

In step S46, the translational movement and rotation amount of mechanical arm are obtained according to preset position coordinate, and then will be on mechanical arm Puncture needle be moved to preset position.

The embodiment of the present invention substitutes two-dimentional camera with three-dimensional scanner as robotic vision and guides system, obtains Patient's 3D rendering data are taken, then 3-D image is carried out with tomographic datas such as CT, MRI and merges, based on tomographic imaging number It is directly tagged in body surface point cloud data according to the inserting needle path of the organ and planning delineated, to guide manipulator by puncture needle It is placed in correct position, pushes pin for doctor and completes to puncture.

Fig. 6 is a kind of flow chart of auxiliary Needle-driven Robot control method of the embodiment of the present invention five, as indicated, controlling party Method includes:

Step S51. obtains the in-vivo image data of the occlusion body table skeleton of patient and punctures intended path；

In step s 51, the in-vivo image data for obtaining the occlusion body table skeleton of patient, which refer to, obtains CT tomographic imaging number According to or B ultrasound image data or magnetic resonance image data, puncture intended path refer to doctor combine the practical patient's condition for puncturing object and Personal experience, integration obtain the puncture path from patient body-surface to lesion target spot.

Step S52. scans patient body-surface by the scanner being mounted in robot to obtain patient body-surface point cloud data；

In step S52, scanner is installed on the robotic arm, and scanner can be laser scanner, by with scanner Centered on, the target point of patient body-surface is scanned to the distance of scanner central point, in turn to the method by laser pulse ranging Obtain point cloud data of the patient body-surface under scanner coordinate system.

Patient body-surface point cloud data is registrated by step S53. with the in-vivo image data of patient；

In step S53, it is automatically performed between patient body-surface cloud data and the in-vivo image data of patient and is schemed by computer As fusion, rebuild, obtain the in-vivo image data of table point cloud data and patient into three-dimensional fusion image.

Puncture intended path under in-vivo image data coordinate system is converted into the mechanical arm tool of robot by step S54. Puncture intended path under coordinate system；

Step S55. calculates installation wearing on the robotic arm according to the puncture intended path under mechanical arm tool coordinates system The preset position of pricker；

Puncture needle on step S56. control mechanical arm is moved to preset position.

Fig. 7 and Fig. 8 is a kind of structural schematic diagram of robot for implementing above-mentioned auxiliary Needle-driven Robot control method.It please join According to Fig. 3 and Fig. 4, robot includes driving mechanism 100, head 1 and vision positioning device.Robot is connect with controlling terminal 200.

Driving mechanism 100 reaches the line needle 2 on head 1 accurately pre- for driving head 1 to move with respect to patient 300 If position, and enter in 300 body of patient by planning path.In the present embodiment, driving mechanism is that six axis are cranked arm.It is appreciated that The structure of driving mechanism 100 is not limited to the scheme of the present embodiment, as long as being able to achieve three-dimensional with respect to patient 300 within a certain area Space precise motion.

Head 1 is connect by mounting structure with driving mechanism 100.Mounting structure includes bottom plate 18, slide construction and linkage Structure C.Head 1 is mounted on bottom plate 18 by slide construction, opposite can be slided up and down.Head 1 is equipped with electron accelerator, adds Fast device includes electron emission rifle, accelerating tube, microwave generator.Electron emission rifle is used for launching electronics beam.Microwave generator is common Have magnetron, microwave generator is connected to accelerating tube, provides the microwave for accelerating electronics.Line needle 2 is fixed with accelerating tube Connection.The instruction that electron emission rifle is issued according to controlling terminal 200, launching electronics beam, electron beam accelerate by accelerating tube, finally Launched by line needle 2.Controlling terminal 200 can control treatment patient by controlling the launch time of electron emission rifle 300 dosage.

Controlling terminal 200, such as computer, with driving mechanism 100 and head 1 by wired or wireless connection, reception and registration refers to It enables to driving mechanism 100 and head 1.Controlling terminal 200 receives the real time information of driving mechanism 100 and head 1, such as position simultaneously Confidence breath, image information, dosage information etc..

Vision positioning device obtains the corresponding body surface 3D rendering in tumor focus position of patient 300 by 3D scanner 19 And send controlling terminal 200 to.The tumour of the 300 body surface 3D rendering of patient that controlling terminal 200 will acquire and the patient 300 prestored Lesions position faultage image is matched, and is obtained the coordinate system based on 300 tumor focus position of patient and is based on driving mechanism 100 The conversion of coordinate system, and according to preset treatment path planning, it controls driving mechanism 100 and line needle 2 is driven to move, make line needle 2 are directly inserted into the intracorporal predeterminated position of patient 300.After line needle 2 reaches 300 intracorporal predeterminated position of patient, controlling terminal 200 start electron gun launching electronics beam by preset dosage, and electron beam squeezes into trouble after accelerating tube accelerates, through line needle 2 In 300 body of person, harmful structure is melted.

Fig. 9 is a kind of structural schematic diagram of robot for implementing above-mentioned auxiliary Needle-driven Robot control method.

Wherein, robot includes scanner 4, clasper 3 and mechanical arm 1, and the end of mechanical arm 3 is arranged in clasper 3 On flange 2, scanner 4 be can be set on clasper 3, also can be set on mechanical arm 1, for example, the setting of scanner 3 is existed On the end joint of mechanical arm, the position of scanner 4 is not specifically limited herein, and 3 are equipped with puncture needle on clasper, obtains transformation Matrix needs to be arranged calibration element, and calibration element can be the various regular objects with central point, such as ball, square, circular cone Body etc. the regular object with central point can be arranged on calibration device, and calibration element may be luminous point, and luminous point can be thrown It penetrates on calibration device, can also suspend in the sky, no matter which kind of type calibration device is selected as, under mechanical arm tool coordinates system Coordinate be known in advance, for example, calibration element is arranged on calibration device, according to the phase of calibration device and mechanical arm tail end flange Coordinate of the calibration element under mechanical arm tool coordinates system can be obtained to the position of position and calibration element on calibration device, and led to It over-scans device and scans calibration element, obtain centre coordinate of the calibration element under scanner coordinate system, specifically, being obtained by scanner The point cloud data of three balls carries out sphere surface fitting to the point cloud data of three balls, obtains three balls in scanner coordinate Sphere centre coordinate under system can carry out sphere surface fitting to point cloud data using least square method and obtain three balls in scanner seat Sphere centre coordinate under mark system.

According to calibration element in the seat of coordinate data and calibration element under scanner coordinate system under mechanical arm tool coordinates system Data are marked, the transformation matrix between scanner coordinate system and mechanical arm tool coordinates system is calculated.

In this step, centre coordinate and calibration element of the calibration element under mechanical arm tool coordinates system is calculated to sit in scanner Barycenter displacement vector is calculated scanner according to singular value decomposition method and sat by the barycenter displacement vector of the centre coordinate under mark system Transformation matrix between mark system and mechanical arm tool coordinates system.

As an implementation, Figure 10 is please referred to, which includes:

To sphere centre coordinate vector of three balls under mechanical arm tool coordinates systemIt is being scanned with three balls Sphere centre coordinate vector under device coordinate systemArithmetic mean of instantaneous value is calculated separately, obtains three balls in mechanical arm tool Barycentric coodinates vector under coordinate systemWith barycentric coodinates vector of three balls under scanner coordinate system

Sphere centre coordinate vector is calculated according to the following formulaBarycenter displacement vector

By barycenter displacement vectorIt is converted into 3 × 3 matrix X₀:

By barycenter displacement vectorIt is converted into 3 × 3 matrix Y₀:

Calculating matrixAnd singular value decomposition is made to matrix HWherein, the column of U For HH^TFeature vector, V's is classified as H^TThe feature vector of H, HH^TWith H^TH has identical characteristic value, and characteristic value is set For λ₁,...,λ_r, the order of r representing matrix H；Diagonal entry in ΛI=1 ... r, and diagonal entry in Λ It arranges in descending order, remaining element is 0 in Λ；

The spin matrix R and translation matrix T between scanner coordinate system and mechanical arm tool coordinates system are established, according to following Formula obtains transformation matrix:

Wherein, it is arrangedAccording to formulaObtain transformation square Battle array:

Further, Needle-driven Robot control method is assisted further include:

Obtain the second transformation matrix of scanner coordinate system and tomographic data coordinate system；

Wherein, being registrated for patient body-surface profile and fluoro data is automatically performed by computer, obtain CT data coordinate system with Second transformation matrix of body surface point cloud coordinate system

Wherein, computer obtain patient body-surface profile on body surface point cloud coordinate system 1 coordinates, obtain this three Coordinate of a point in CT data coordinate system obtains the second transformation matrix by calculating translational movement and making singular value decomposition.

Further, by under in-vivo image data coordinate system puncture inserting needle position coordinates and inserting needle direction vector be converted into Puncture inserting needle position coordinates and inserting needle direction vector under the mechanical arm tool coordinates system of robot, comprising:

Obtain the first transformation matrix and the second transformation matrix；

The puncture inserting needle position coordinates being converted under in-vivo image data coordinate system with homogeneous coordinates are T, inserting needle direction Vector is V；

According to following calculation formula by under in-vivo image data coordinate system puncture inserting needle position coordinates and inserting needle direction to Measure the puncture inserting needle position coordinates T' and inserting needle direction vector V' being converted under mechanical arm tool coordinates system:

Further, the puncture needle controlled on mechanical arm is moved to preset position, comprising:

Clasper is calculated according to the following formula under mechanical arm tool coordinates system along translational movement X, Y, Z of x, y, z axis direction With around z, y, the rotation angle A of x-axis direction, B, C:

Wherein, t_x1、t_y1、t_z1To puncture inserting needle position coordinates T', S_x、S_y、S_ZFor the tool under mechanical arm tool coordinates system Center point coordinate, V_x1、V_y1、V_Z1For inserting needle direction vector V'；

It is moved according to translational movement X, Y, Z along x, y, z axis direction and around z, y, the rotation angle A of x-axis direction, B, C formation It instructs (X, Y, Z, A, B, C)；

Movement instruction is executed, is moved to preset position hovering to control puncture needle.

Movement instruction is generated according to the translational movement of clasper and rotation angle in above-mentioned steps, it is first right according to the movement instruction Clasper and scanner be rotated instruction in angle after, according to the translational movement in movement instruction along some reference axis It is translated, it can puncture needle is moved on hovering position.

The embodiment of the present invention six provides a kind of auxiliary Needle-driven Robot control device, comprising:

Mechanical arm；

Head is mounted on mechanical arm, for fixing puncture needle；

Processing unit, the body for the occlusion body table skeleton to patient's 3D surface images data and patient from scanner Interior image data is registrated.Puncture intended path under in-vivo image data coordinate system is converted into robot by processing unit Puncture intended path under mechanical arm tool coordinates system.Processing unit is according to the puncture intended path under mechanical arm tool coordinates system Calculate the preset position of the puncture needle of installation on the robotic arm.

Control unit, it is preset for being moved to according to the puncture intended path control puncture needle under mechanical arm tool coordinates system Position.

Puncturing intended path includes puncturing inserting needle position coordinates and inserting needle direction vector.

Processing unit and CT equipment data connection, in-vivo image imaging data and puncture intended path come from CT equipment.

The present embodiment substitutes two-dimentional camera with three-dimensional scanner as robotic vision and guides system, obtains and suffers from Then person's body surface 3D rendering data carry out 3-D image with tomographic datas such as CT, MRI and merge, based on tomographic imaging number It is directly tagged in surface images according to the inserting needle path of the organ and planning delineated, so that manipulator be guided to put puncture needle In correct position, pushes pin for doctor and complete to puncture.

The embodiment of the present invention provides a kind of auxiliary Needle-driven Robot control method, as shown in figure 11, assists Needle-driven Robot Control method includes:

Scanner coordinate system and mechanical arm tool coordinates system is arranged in step S10., and obtains scanner coordinate system and mechanical arm The first transformation matrix between tool coordinates system.

In step slo, robot includes scanner 4, clasper 3 and mechanical arm 1, and clasper 3 is arranged in mechanical arm 3 End flange 2 on, scanner 4 can be set on clasper 3, also can be set on mechanical arm 1, for example, by scanner 3 It is arranged on the end joint of mechanical arm, the position of scanner 4 is not specifically limited herein, and 3 are equipped with puncture needle on clasper, is obtained Transformation matrix is taken to need to be arranged calibration element, calibration element can be the various regular objects with central point, such as ball, pros Body, cone etc. the regular object with central point can be arranged on calibration device, and calibration element may be luminous point, light Point can be incident upon on calibration device, can also be suspended in the sky, no matter which kind of type calibration device is selected as, in mechanical arm tool Coordinate under coordinate system is known in advance, for example, by calibration element setting on calibration device, according to calibration device and mechanical arm tail end The position of the relative position of flange and calibration element on calibration device can obtain seat of the calibration element under mechanical arm tool coordinates system Mark.

As a kind of mode, as shown in figure 12, setting scanner coordinate system and mechanical arm tool coordinates in step S10 System, comprising:

The axis of clasper is arranged to parallel with the x-axis of mechanical arm tool coordinates system by step S101..

Step S102. sets the aiming point on the axis of clasper to the tool center point of mechanical arm.

In above-mentioned steps S101 and step S102, three-dimensional point cloud scanner (abbreviation scanner) and round tube are grasped first Device (abbreviation clasper) is fixed on six shaft mechanical arms (abbreviation mechanical arm) end, makes scanner, clasper and mechanical arm tail end Flange keeps opposing stationary during exercise, then both scanner and clasper constitute robot eye system, then by clasper Axis be arranged to parallel with the x-axis of mechanical arm tool coordinates system, set the aiming point of clasper in the tool of mechanical arm Heart point (Tool Central Point, TCP), and remember that position of this under mechanical arm tool coordinates system is S (s_x,s_y,s_z)。

In step slo, as a kind of mode, as shown in figure 13, scanner coordinate system and mechanical arm tool coordinates are obtained The first transformation matrix between system, comprising:

Step S103. obtains centre coordinate of the calibration element under mechanical arm tool coordinates system.

In step s 103, as an implementation, according to the relative position of calibration device and mechanical arm, calibration device is obtained Sphere centre coordinate of upper three balls under mechanical arm tool coordinates system.Wherein, calibration device is installed to mechanical arm tail end, got the bid Determine device and meets the following conditions: the calibration element of ball there are three being set on calibration device, the three of the triangle of the centre of sphere composition of three balls Side length is not mutually equal, and three balls can be stably mounted at mechanical arm tail end, and keep phase with mechanical arm tail end flange To static；After installation the sphere centre coordinate of these three balls be in mechanical arm tail end mechanical arm tool coordinates system it can be concluded that； When scanner is scanned calibration device, three balls must be all in the effective field of view of scanner, and does not occur mutually It blocks, wherein calibration device can be connected on clasper end flange by connecting rod, be set in calibration device according to preset condition Three balls are set, three balls are obtained according to the setting position of the tool center point of mechanical arm and three balls on calibration device Sphere centre coordinate under mechanical arm tool coordinates system.

Step S104. scans calibration element by scanner, obtains centre coordinate of the calibration element under scanner coordinate system.

In step S104, specifically, as shown in figure 13, the point cloud data of three balls is obtained by scanner, to three The point cloud data of a ball carries out sphere surface fitting, obtains sphere centre coordinate of three balls under scanner coordinate system, can use Least square method carries out sphere surface fitting to point cloud data and obtains sphere centre coordinate of three balls under scanner coordinate system.

Step S105. calculates centre coordinate and calibration element of the calibration element under mechanical arm tool coordinates system in scanner coordinate The barycenter displacement vector of centre coordinate under system.

As an implementation, step S105 includes:

Scanner coordinate system and mechanical arm work is calculated according to singular value decomposition method in barycenter displacement vector by step S106. Has the transformation matrix between coordinate system.

As an implementation, step S106 includes:

By barycenter displacement vectorIt is converted into 3 × 3 matrix X₀:

By barycenter displacement vectorIt is converted into 3 × 3 matrix Y₀:

Step S20. obtains the tomographic data of patient, obtains tomographic data coordinate system according to tomographic data Under puncture inserting needle position coordinates and inserting needle direction vector.

In step S20, CT (Computed Tomography, CT scan), MRI can be passed through Tomographic datas such as (Magnetic Resonance Imaging, magnetic resonance imagings) carry out 3-D image fusion and obtain patient Tomographic data draw out puncture path, such as Fig. 2 according to the puncturing schemes that doctor formulates the tomographic data, remember Puncture inserting needle position coordinates are T (t_x,t_y,t_z), inserting needle direction vector is V (v_x,v_y,v_z)。

Step S30. control scanner scans patient body-surface to obtain the point cloud data of patient body-surface profile, by body surface profile Point cloud data be registrated with tomographic data, obtain scanner coordinate system and tomographic data coordinate system second becomes Change matrix.

In step s 30, being registrated for patient body-surface profile and fluoro data is automatically performed by computer, obtains CT data seat Second transformation matrix of mark system and body surface point cloud coordinate system

Step S40. according to the first transformation matrix and the second transformation matrix by the puncture under tomographic data coordinate system into Pin position coordinate and inserting needle direction vector are converted into puncture inserting needle position coordinates and inserting needle direction under mechanical arm tool coordinates system Vector.

As an implementation, step S40 includes:

Obtain the first transformation matrix

Obtain the second transformation matrix

Inserting needle position coordinates and inserting needle direction vector will be punctured with homogeneous coordinates be converted to puncture inserting needle position and beInserting needle direction vector is

Inserting needle position coordinates will be punctured according to following calculation formula and inserting needle direction vector is converted into mechanical arm tool coordinates Puncture inserting needle position coordinates T' and inserting needle direction vector V' under system:

Step S50. according under mechanical arm tool coordinates system puncture inserting needle position coordinates and inserting needle direction vector control wear Pricker is moved on corresponding inserting needle position and hovers.

As an implementation, step S50 includes:

Step S501. calculates clasper under mechanical arm tool coordinates system along the flat of x, y, z axis direction according to the following formula Shifting amount X, Y, Z and around z, y, the rotation angle A of x-axis direction, B, C:

Wherein, t_x1、t_y1、t_z1To lunge pin position coordinate T', S_x、S_y、S_ZFor in the tool under mechanical arm tool coordinates system Heart point coordinate, V_x1、V_y1、V_Z1For inserting needle direction vector V'.

Step S502. is according to translational movement X, Y, Z along x, y, z axis direction and around z, y, the rotation angle A of x-axis direction, B, C It is formed movement instruction (X, Y, Z, A, B, C).

Step S503. executes movement instruction, is moved on corresponding inserting needle position with to control puncture needle and is hovered.

In above-mentioned steps S501 into step S503, as shown in Figure 6 and Figure 7, according to the translational movement and rotation angle of clasper Degree generates movement instruction, after the angle first clasper and scanner being rotated in instruction according to the movement instruction, It is translated according to the translational movement in movement instruction along some reference axis, it can puncture needle is moved on hovering position.

Technical solution of the present invention substitutes two-dimentional camera as robot with the three-dimensional scanner for producing point cloud Vision guide system can just obtain the three-dimensional point cloud with depth information by single angle scanning.Due to the scanning of cloud Interval is very short, can realize the large area scanning to patient body-surface easily, then carries out three with tomographic datas such as CT, MRI Image co-registration is tieed up, the inserting needle path of the organ and planning delineated based on tomographic data is directly tagged to body surface point cloud data In the middle, it to guide manipulator that puncture needle is placed in correct position, pushes pin for doctor and completes to puncture.Technical solution of the present invention It is to merge internal three-dimensional data with body surface three-dimensional data, eliminates the complicated fortune for rebuilding 3-D image by two dimensional image Calculation and limitation, simplify the calculation amount of vision guide, improve the reliability of vision guide, are the puncture behaviour in medical operating Provide advantageous auxiliary tool.

Another embodiment of the present invention provides a kind of auxiliary Needle-driven Robot control devices 60, and as shown in figure 14, auxiliary punctures Robot includes scanner, clasper and mechanical arm, and clasper and scanner are arranged in the end of mechanical arm, grab on clasper Puncture needle is possessed, auxiliary Needle-driven Robot control device 60 includes:

First transformation matrix acquiring unit 601, for scanner coordinate system and mechanical arm tool coordinates system to be arranged, and obtains The first transformation matrix between scanner coordinate system and mechanical arm tool coordinates system；

Puncture position information acquisition unit 602 is obtained for obtaining the tomographic data of patient according to tomographic data Take the puncture inserting needle position coordinates and inserting needle direction vector under tomographic data coordinate system；

Second transformation matrix acquiring unit 603, for controlling scanner scanning patient body-surface to obtain patient body-surface profile Point cloud data, the point cloud data of body surface profile is registrated with tomographic data, obtains scanner coordinate system and tomography Second transformation matrix of imaging data coordinate system；

Puncture position information conversion unit 604, for according to the first transformation matrix and the second transformation matrix by tomographic imaging Puncture inserting needle position coordinates and inserting needle direction vector under data coordinate system be converted into the puncture under mechanical arm tool coordinates system into Pin position coordinate and inserting needle direction vector；

Mobile control unit 605, for according under mechanical arm tool coordinates system puncture inserting needle position coordinates and inserting needle side It is moved on corresponding inserting needle position and hovers to vector majorization puncture needle.

Further, the first transformation matrix acquiring unit 601 is also used to:

The axis of clasper is arranged to parallel with the x-axis of mechanical arm tool coordinates system；

Set the aiming point on the axis of clasper to the tool center point of mechanical arm.

Further, the first transformation matrix acquiring unit 601 is specifically used for:

Obtain centre coordinate of the calibration element under mechanical arm tool coordinates system；

Calibration element is scanned by scanner, obtains centre coordinate of the calibration element under scanner coordinate system；

Calculate calibration element under mechanical arm tool coordinates system centre coordinate and calibration element under scanner coordinate system in The barycenter displacement vector of heart coordinate；

Scanner coordinate system and mechanical arm tool coordinates system is calculated according to singular value decomposition method in barycenter displacement vector Between transformation matrix.

Further, puncture position information conversion unit 604 is specifically used for:

Obtain the first transformation matrix

Obtain the second transformation matrix

Pin position coordinate will be lunged with homogeneous coordinates and inserting needle direction vector be converted to and punctures inserting needle position and beInserting needle direction vector is

Pin position coordinate will be lunged according to following calculation formula and inserting needle direction vector is converted into mechanical arm tool coordinates system Under lunge pin position coordinate T' and inserting needle direction vector V':

Further, mobile control unit is specifically used for:

Movement instruction is executed, is moved on corresponding inserting needle position with to control puncture needle and is hovered.

The present embodiment provides a computer readable storage medium, computer journey is stored on the computer readable storage medium Sequence realizes a kind of auxiliary Needle-driven Robot control method in embodiment 1 when the computer program is executed by processor, to avoid weight Multiple, which is not described herein again.

Figure 15 is the schematic diagram of computer equipment in the embodiment of the present invention.As shown in figure 15, computer equipment 6 includes processing Device 63, memory 61 and it is stored in the computer program 62 that can be run in memory 61 and on processor 63.Processor 63 A kind of each step for assisting Needle-driven Robot control method in above-described embodiment is realized when executing computer program 62, such as is schemed Step S10, S20, S30, S40 and S50 shown in 1.Alternatively, processor 63 realizes above-mentioned implementation when executing computer program 62 A kind of auxiliary Needle-driven Robot control device in example.

Illustratively, computer program 62 can be divided into one or more module/units, one or more mould Block/unit is stored in memory 61, and is executed by processor 63, to complete data handling procedure of the invention.One or Multiple module/units can be the series of computation machine program segment that can complete specific function, which calculates for describing Implementation procedure of the machine program 62 in computer equipment 6.

Terminal device 6 can be desktop PC, notebook, palm PC and cloud server etc. and calculate equipment.Eventually End equipment may include, but be not limited only to, processor 63, memory 61.It will be understood by those skilled in the art that Fig. 7 is only eventually The example of end equipment 6 does not constitute the restriction to terminal device 6, may include than illustrating more or fewer components or group Close certain components or different components, for example, terminal device can also include input-output equipment, it is network access equipment, total Line etc..

Alleged processor 63 can be central processing unit (Central Processing Unit, CPU), can also be Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field- Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic, Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor Deng.

Memory 61 can be the internal storage unit of terminal device 6, such as the hard disk or memory of terminal device 6.Storage Device 61 is also possible to the plug-in type hard disk being equipped on the External memory equipment of terminal device 6, such as terminal device 6, intelligent storage Block (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card (Flash Card) etc.. Further, memory 61 can also both including terminal device 6 internal storage unit and also including External memory equipment.Memory 61 for storing other programs and data needed for computer program and terminal device.Memory 61 can be also used for temporarily Store the data that has exported or will export.

It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different Functional unit, module are completed, i.e., the internal structure of device are divided into different functional unit or module, to complete above description All or part of function.

It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list Member both can take the form of hardware realization, can also realize in the form of software functional units.

If integrated module/unit is realized in the form of SFU software functional unit and sells or use as independent product When, it can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-described embodiment side All or part of the process in method can also instruct relevant hardware to complete by computer program, and computer program can It is stored in a computer readable storage medium, the computer program is when being executed by processor, it can be achieved that above-mentioned each method The step of embodiment.Wherein, computer program includes computer program code, and computer program code can be source code shape Formula, object identification code form, executable file or certain intermediate forms etc..Computer-readable medium may include: that can carry meter Any entity or device of calculation machine program code, recording medium, USB flash disk, mobile hard disk, magnetic disk, CD, computer storage, only Read memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electricity load Wave signal, telecommunication signal and software distribution medium etc..It should be noted that the content that computer-readable medium includes can root Increase and decrease appropriate is carried out according to the requirement made laws in jurisdiction with patent practice, such as in certain jurisdictions, according to vertical Method and patent practice, computer-readable medium do not include be electric carrier signal and telecommunication signal.

The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments Invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these modification or Replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all include Within protection scope of the present invention.

Claims

1. a kind of auxiliary Needle-driven Robot control method, which is characterized in that the control method includes:

Patient body-surface is scanned by the scanner being mounted in the robot to obtain patient body-surface point cloud data；

The patient body-surface point cloud data is registrated with the in-vivo image data of the patient；

Puncture intended path under the in-vivo image data coordinate system is converted into the mechanical arm tool coordinates of the robot Puncture intended path under system；

The puncture needle being mounted on the mechanical arm is calculated according to the puncture intended path under the mechanical arm tool coordinates system Preset position；

It controls the puncture needle on the mechanical arm and is moved to the preset position.

2. auxiliary Needle-driven Robot control method as described in claim 1, which is characterized in that the step " receives patient's The in-vivo image data of occlusion body table skeleton " are to receive CT tomographic data or B ultrasound image data or magnetic resonance image data.

3. auxiliary Needle-driven Robot control method as described in claim 1, which is characterized in that the preset position is described wears Pricker hovers over the position above patient body-surface.

4. auxiliary Needle-driven Robot control method as described in claim 1, which is characterized in that the puncture intended path includes Puncture inserting needle position coordinates and inserting needle direction vector.

5. auxiliary Needle-driven Robot control method as described in claim 1, which is characterized in that the step is " by the patient Body surface point cloud data is registrated with the in-vivo image data of the patient " after, further include sub-step: calculating the scanner The transition matrix M of coordinate system and the in-vivo image data coordinate system；

" the puncture intended path under the in-vivo image data coordinate system is converted into the mechanical arm tool coordinates of the robot The lower puncture intended path of system " be according to the transition matrix N of the scanner coordinate system and the mechanical arm tool coordinates system with The transition matrix M calculates conversion.

6. auxiliary Needle-driven Robot control method as claimed in claim 5, which is characterized in that further include: obtain the scanning Transformation matrix M between device coordinate system and the mechanical arm tool coordinates system.

7. auxiliary Needle-driven Robot control method as described in claim 1, which is characterized in that sit the in-vivo image data Puncture inserting needle position coordinates and inserting needle direction vector under mark system are converted under the mechanical arm tool coordinates system of the robot Puncture inserting needle position coordinates and inserting needle direction vector, comprising:

Obtain the first transformation matrix and the second transformation matrix；

The puncture inserting needle position coordinates being converted under the in-vivo image data coordinate system with homogeneous coordinates are T, inserting needle direction Vector is V；

According to following calculation formula by under the in-vivo image data coordinate system puncture inserting needle position coordinates and inserting needle direction to Measure the puncture inserting needle position coordinates T' and inserting needle direction vector V' being converted under the mechanical arm tool coordinates system:

8. a kind of auxiliary Needle-driven Robot control method, which is characterized in that the control method includes:

The in-vivo image data for receiving the occlusion body table skeleton of patient, calculate the internal figure according to the in-vivo image data As the puncture intended path under data coordinate system；

Patient body-surface is scanned by scanner to obtain patient body-surface 3D rendering data；

The patient body-surface 3D rendering data are registrated with the in-vivo image data of the patient；

9. auxiliary Needle-driven Robot control method as claimed in claim 8, which is characterized in that the step " receives patient's The in-vivo image data of occlusion body table skeleton " are to receive CT tomographic data or B ultrasound image data or magnetic resonance image data.

10. auxiliary Needle-driven Robot control method as claimed in claim 8, which is characterized in that the preset position is described Puncture needle hovers over the position above patient body-surface.

11. auxiliary Needle-driven Robot control method as claimed in claim 8, which is characterized in that the puncture intended path packet It includes and punctures inserting needle position coordinates and inserting needle direction vector.

12. a kind of auxiliary Needle-driven Robot control method, which is characterized in that the control method includes:

The in-vivo image Data Data for receiving the occlusion body table skeleton of patient, calculates the body according to the in-vivo image data The preset position of puncture needle under interior image data coordinate system；

The preset position of puncture needle under the in-vivo image data coordinate system is converted into the mechanical arm tool of the robot The preset position of puncture needle under coordinate system；

13. auxiliary Needle-driven Robot control method as claimed in claim 12, which is characterized in that the step " receives patient Occlusion body table skeleton in-vivo image Data Data " be to receive CT tomographic data or B ultrasound image data or magnetic resonance figure As data.

14. auxiliary Needle-driven Robot control method as claimed in claim 13, which is characterized in that the preset position is described Puncture needle hovers over the position above patient body-surface.

15. a kind of auxiliary Needle-driven Robot control method, which is characterized in that the control method includes:

Patient body-surface is scanned by the scanner being mounted in the robot to obtain patient's 3D rendering data；

Patient's 3D rendering data are registrated with the in-vivo image data of the patient；

16. a kind of auxiliary Needle-driven Robot control method, which is characterized in that the control method includes:

17. a kind of auxiliary Needle-driven Robot characterized by comprising

Mechanical arm；

Head is mounted on the mechanical arm, for fixing puncture needle；

Scanner is mounted on the mechanical arm, for scanning patient body-surface 3D rendering data；

Processing unit, the internal figure for the occlusion body table skeleton to patient's 3D surface images data and patient from scanner As data are registrated；Puncture intended path under the in-vivo image data coordinate system is converted into described by the processing unit Puncture intended path under the mechanical arm tool coordinates system of robot；The processing unit is according to the mechanical arm tool coordinates system Under puncture intended path calculate the preset position of the puncture needle being mounted on the mechanical arm；

Control unit is moved to for controlling the puncture needle according to the puncture intended path under the mechanical arm tool coordinates system The preset position.

18. auxiliary Needle-driven Robot control device as claimed in claim 17, which is characterized in that the puncture intended path packet It includes and punctures inserting needle position coordinates and inserting needle direction vector.

19. auxiliary Needle-driven Robot control device as claimed in claim 17, which is characterized in that the processing unit is set with CT Standby data connection, the in-vivo image imaging data and the puncture intended path come from the CT equipment.

20. a kind of computer equipment, including memory, processor and storage are in the memory and can be in the processor The computer program of upper operation, which is characterized in that the processor realized when executing the computer program as claim 1 to The step of any one of 16 the method.

21. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists In when the computer program is executed by processor the step of any one of such as claim 1 to 16 of realization the method.