CN110711031A

CN110711031A - Surgical navigation system, coordinate system registration system, method, device, and medium

Info

Publication number: CN110711031A
Application number: CN201911050224.2A
Authority: CN
Inventors: 里敦; 胡江胜
Original assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Current assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Priority date: 2019-10-31
Filing date: 2019-10-31
Publication date: 2020-01-21
Anticipated expiration: 2039-10-31
Also published as: CN110711031B; CN114469343A; CN114469343B

Abstract

The present application relates to a surgical navigation system, coordinate system registration system, method, device and medium. The surgical navigation coordinate system registration system comprises a medical imaging device, a calibration piece, a mechanical arm, a distance detection device and a processing device. The medical imaging device is used for imaging a patient to obtain an image of the patient. The material of the marking piece is the material which can be identified by the medical imaging device, and the marking piece is used for being connected with a bone nail implanted into the bone of a patient so as to mark the position information of the patient. The distance detection device is fixedly arranged on the mechanical arm and used for detecting the distance between the mechanical arm and the calibration piece to obtain a first distance. The processing device is in communication with the medical imaging device and the distance detection device and is configured to register a patient image coordinate system and a robotic arm base coordinate system based on the patient image and the first distance. The operation navigation coordinate system registration system provided by the application is simple and convenient to use.

Description

Surgical navigation system, coordinate system registration system, method, device, and medium

Technical Field

The present application relates to the field of surgical navigation technologies, and in particular, to a surgical navigation system, a coordinate system registration system, a method, a device, and a medium.

Background

Surgical navigation is one of the key technologies for robot-assisted surgery. The operation navigation is the basis for the robot to complete the operation with high precision. In surgical navigation techniques, the most important is the registration of the individual spatial coordinates. The registration of the spatial coordinates mainly includes registration between a patient image coordinate system, a patient actual coordinate system, a robot arm base coordinate system and the like, wherein the most important registration is registration of the robot arm base coordinate system and the patient image coordinate system.

In the conventional art, the surgical navigation coordinate system registration scheme is roughly divided into a plane-based registration and a point-based registration. Among the point-based registration schemes, the one with the highest accuracy is to implant a certain number of marker points on the patient's bone and to mount a corresponding contact tool at the end of the robotic arm. And dragging the mechanical arm to enable the contact tool at the tail end of the mechanical arm to contact the mark point. When the basic tool contacts the marking point, the position coordinate of the tool at the tail end of the mechanical arm is obtained, so that the position coordinate of the marking point is obtained, and the registration of a base coordinate system of the mechanical arm and an image coordinate system of a patient is realized.

However, after the registration is completed, a verification tool is generally installed at the end of the robot arm for verification, so as to ensure the accuracy of the registration. The above registration method requires the replacement of the end-of-arm tool in the registration and verification stages, and has the problem of complicated operation.

Disclosure of Invention

In view of the above, there is a need to provide a surgical navigation system, a coordinate system registration system, a method, a device and a medium for addressing the above problems.

In a first aspect, an embodiment of the present application provides a surgical navigation coordinate system registration system, including:

the medical imaging device is used for imaging a patient to obtain a patient image;

the marking piece is made of a material which can be identified by the medical imaging device, and is used for being connected with a bone nail implanted into the bone of the patient so as to mark the position information of the patient;

a mechanical arm;

the distance detection device is fixedly arranged on the mechanical arm and used for detecting the distance between the mechanical arm and the calibration piece to obtain a first distance;

and the processing device is in communication connection with the medical imaging device and the distance detection device and is used for registering a patient image coordinate system and a mechanical arm base coordinate system according to the patient image and the first distance.

In one embodiment, the distance detection device comprises at least one of a laser distance detection device, a radar distance detection device, and a depth camera.

In one embodiment, the surface of the index piece is provided with an indication pattern for indicating the measuring position of the distance detection device.

In one embodiment, the calibration piece is a sphere or a polyhedron inscribed in the sphere.

In one embodiment, the distance detection device is fixedly arranged on an XY plane in a robot arm joint coordinate system of the robot arm.

In a second aspect, an embodiment of the present application provides a surgical navigation system, including:

a surgical navigational coordinate system registration system as described above;

the mechanical arm control device is in communication connection with the processing device and the mechanical arm and is used for controlling the mechanical arm to move;

the processing device is further used for controlling the mechanical arm control device according to the registration result of the patient image coordinate system and the mechanical arm base coordinate system.

The surgical navigation coordinate system registration system and the surgical navigation system provided by the embodiment of the application comprise a medical imaging device, a calibration piece, a mechanical arm, a distance detection device and a processing device. The medical imaging device images the patient to obtain an image of the patient. The distance detection device can detect the distance between the first distance and the calibration piece to obtain the first distance. The processing device is capable of registering the patient image coordinate system and the mechanical base coordinate system based on the patient image and the first distance. The surgical navigation coordinate system registration system and the surgical navigation system provided by the embodiment of the application can realize coordinate system registration without contacting a calibration piece by arranging the distance detection device. The operation navigation coordinate system registration system does not need a mechanical arm clamping tool to contact the calibration piece, so that the tool clamping position of the mechanical arm is not occupied, tools at the tail end of the mechanical arm are not required to be replaced in two stages of coordinate system registration and registration verification, and the operation is simplified. In addition, the distance detecting device does not contact the index member installed in the patient body, and thus, sterilization is not required, simplifying the operation. Meanwhile, the distance detection device is fixedly arranged on the mechanical arm, so that the position calibration procedure of the tail end tool by the position calibration piece in the tail end tool replacement in the traditional technology can be omitted, the operation is simplified, the installation error caused in the tool replacement process can be avoided, and the accuracy of coordinate system registration is improved. Finally, the distance detection device does not need to be in contact with the calibration piece, so that compared with the traditional technology, the moving space of the mechanical arm is larger, and the use by a user is more convenient.

In a third aspect, an embodiment of the present application provides a surgical navigation coordinate system registration method, which is applied to the surgical navigation coordinate system registration system described above, and the method includes:

acquiring distance information between the distance detection device and the calibration piece to obtain the first distance;

determining the position coordinates of the calibration piece in the mechanical arm base coordinate system according to the first distance to obtain first coordinates;

acquiring the position coordinate of the calibration piece in the patient image coordinate system to obtain a second coordinate;

registering the patient image coordinate system with the robotic arm base coordinate system according to the first and second coordinates.

In one embodiment, the determining the position coordinates of the target in the robot arm coordinate system according to the first distance to obtain first coordinates includes:

acquiring the position coordinates of the distance detection device in a mechanical arm joint coordinate system to obtain the coordinates of the detection device;

obtaining the coordinate of the calibration piece in the mechanical arm joint coordinate system according to the first distance and the coordinate of the detection device;

acquiring a conversion relation between the mechanical arm joint coordinate system and the mechanical arm base coordinate system;

and determining the first coordinate according to the conversion relation between the mechanical arm joint coordinate system and the mechanical arm base coordinate system and the coordinate of the calibration piece in the mechanical arm joint coordinate system.

In one embodiment, the obtaining information of the distance between the distance detecting device and the calibration piece to obtain the first distance includes:

acquiring distance information between the distance detection device and the measuring surface of the calibration piece to obtain the surface distance;

obtaining the distance information between the measuring surface of the calibration piece and the center of the calibration piece to obtain the center distance;

and obtaining the first distance according to the surface distance and the center distance.

In one embodiment, the surgical navigation coordinate system registration system further comprises a distance coarse detection device, which is in communication connection with the processing device and is used for detecting the distance between the surgical navigation coordinate system registration system and the calibration piece;

the obtaining of the distance information between the distance detection device and the calibration piece to obtain a first distance includes:

acquiring the distance between the distance rough detection device and the calibration piece to obtain a preliminary distance;

determining the position coordinates of the calibration piece in the mechanical arm base coordinate system according to the preliminary distance to obtain preliminary coordinates;

and controlling the mechanical arm to move according to the preliminary coordinate so as to obtain distance information between the distance detection device and the calibration piece and obtain the first distance.

In a fourth aspect, an embodiment of the present application provides a surgical navigation coordinate system registration system, including a medical imaging device, a calibration piece, a mechanical arm, a distance detection device, and a processing device, where the processing device includes:

the first distance acquisition module is used for acquiring distance information between the distance detection device and the calibration piece to obtain the first distance;

the first coordinate determination module is used for determining the position coordinates of the calibration piece in a mechanical arm base coordinate system according to the first distance to obtain first coordinates;

the second coordinate acquisition module is used for acquiring the position coordinates of the calibration piece in the patient image coordinate system to obtain second coordinates;

and the registration module is used for registering the patient image coordinate system and the mechanical arm base coordinate system according to the first coordinate and the second coordinate.

In a fifth aspect, an embodiment of the present application provides a computer device, including a memory and a processor, where the memory stores a computer program, and the processor implements the steps of the method when executing the computer program.

In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the method as described above.

According to the surgical navigation coordinate system registration method, the surgical navigation coordinate system registration system, the computer device and the readable storage medium, the first distance is obtained by obtaining the distance information between the distance detection device and the calibration piece, and the position coordinate of the calibration piece in the mechanical arm base coordinate system is further determined according to the first distance to obtain the first coordinate. Compared with the method for acquiring the position of the calibration piece in the coordinate system of the mechanical arm base through tool contact in the prior art, the surgical navigation coordinate system registration method, the surgical navigation coordinate system registration system, the computer equipment and the readable storage medium provided by the embodiment of the application eliminate the factor of inaccurate position coordinate extraction caused by insufficient contact and improve the accuracy of coordinate registration.

Drawings

Fig. 1 is a schematic structural diagram of a surgical navigation coordinate system registration system according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a structure of a marker provided in accordance with an embodiment of the present application;

FIG. 3 is a flow chart illustrating the structure of a surgical navigation system according to an embodiment of the present application;

FIG. 4 is a schematic view of a surgical navigational coordinate system registration system provided in one embodiment of the present application;

fig. 5 is a schematic flowchart of a surgical navigation coordinate system registration method according to an embodiment of the present application;

fig. 6 is a schematic flowchart of a surgical navigation coordinate system registration method according to an embodiment of the present application;

FIG. 7 is a flow chart illustrating the structure of a surgical navigation system according to an embodiment of the present application;

fig. 8 is a schematic flowchart of a surgical navigation coordinate system registration method according to an embodiment of the present application;

FIG. 9 is a schematic structural diagram of a processing device according to an embodiment of the present application;

fig. 10 is a schematic structural diagram of a first distance obtaining module according to an embodiment of the present application;

fig. 11 is an internal structural diagram of a computer device according to an embodiment of the present application.

Description of reference numerals:

surgical navigational coordinate system registration system 10

Medical imaging apparatus 100

Calibration piece 200

Mechanical arm 300

Validation tool 301

Distance detection device 400

Processing apparatus 500

Coarse distance detection device 600

Bone nail 20

Indicating pattern 201

Robot arm control device 30

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The operation navigation coordinate system registration system, the operation navigation system and the operation navigation coordinate system registration method provided by the embodiment of the application can be applied to robot-assisted surgery. And the operation navigation coordinate system registration system is used for realizing registration of a patient image coordinate system and a mechanical arm base coordinate system. The operation navigation system is used for realizing navigation on the basis of completing the coordinate system registration so as to complete the robot-assisted surgery. The surgical navigation coordinate system registration method can be applied to the surgical navigation coordinate system registration system and the surgical navigation system, and particularly can be applied to a processing device. The following detailed description is given with reference to specific examples.

Referring to fig. 1, one embodiment of the present application provides a surgical navigational coordinate system registration system 10. The surgical navigational coordinate system registration system 10 includes a medical imaging device 100, a calibration piece 200, a robotic arm 300, a distance detection device 400, and a processing device 500.

The medical imaging device 100 is used to image a patient to obtain an image of the patient. The medical Imaging device may be an ultrasound Imaging device, may be a Magnetic Resonance Imaging (MRI) device, may also be a Computed Tomography (CT) device or a Positron Emission Tomography (PET) device, etc. The medical imaging device 100 is not limited by the present application as long as it is capable of imaging a patient.

The bone screw 20 is implanted in the bone of the patient. The calibration member 200 is connected to the bone screw 20 for calibrating the position information of the patient. The number of markers 200 may correspond to the number of bone screws 20. The index 200 is made of a material that the medical imaging device 100 can recognize, for example: tantalum metal. The specific structure of the index 200 is not limited as long as it can be recognized by the medical imaging apparatus 100 and can be detected by the distance detection apparatus 400. For example, the index piece 200 may be spherical, square, rectangular parallelepiped, or other polyhedral structure. The index member 200 and the bone screw 20 may be threaded, riveted, or otherwise connected. Optionally, the bone nail 20 is a cylindrical structure having a first end (capable of being embedded in the bone) and a second end opposite to the first end, the second end is capable of being embedded in the calibration piece 200, and the end of the second end extends to the central area of the calibration piece 200, so as to more precisely realize the registration of the surgical navigation coordinate system.

The robotic arm 300 is used to hold a surgical tool or an inspection tool. The robot arm 300 may include a robot arm base and a plurality of movable joints, each of which may be located at a different position relative to the robot arm base. That is, the robot 300 mainly includes two coordinate systems, one is a robot base coordinate system, and the other is a robot joint coordinate system. The specific structure of the robot arm 300 is not limited in any way, and can be selected according to actual requirements.

The distance detection device 400 is fixedly installed at the robot arm 300. The specific arrangement position of the distance detection device 400 on the robot arm 300 can be selected according to actual requirements. In one embodiment, the distance detection device 400 may be disposed at the end of the robot 300 and does not occupy a position for holding a tool. For example, as shown in fig. 1, a joint end of the robot arm 300 has a cylindrical shape, and a circular end face of the cylindrical joint end is a tool holding position for holding a surgical tool or other measuring tool. The distance detecting means 400 may be provided on the circumferential surface of the joint end. Since the distance detection device 400 is fixedly installed in the robot arm 300, the relative position of the distance detection device 400 and the joint of the robot arm 300 is known. The distance detecting device 400 is used for detecting the distance from the calibration piece 200 to obtain the first distance. The distance detection device 400 may be an optical distance measurement device, a radar distance measurement device, or the like. The present application does not limit the specific structure and the distance measurement principle of the distance detection device 400, as long as the distance detection can be achieved. Alternatively, the distance detection device 400 may be rotated around the circumferential surface of the joint end, so that the distance detection device may have a better detection view. For example, the distance detection device may be rotated and positioned one gear every 5 °, 30 °, or 5 ° -30 °. Optionally, the distance detection device is provided with a driving motor, and it can be controlled by the processing device 500, so as to realize automatic adjustment of the angular position.

The processing device 500 is used for processing data. The processing device 500 may be any device that includes a processor. The processing device 500 may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, portable wearable devices, and the like. The processing device 500 is communicatively connected to the medical imaging device 100 and the distance detection device 400, and is configured to receive the patient image output by the medical imaging device 100 and the first distance detected by the distance detection device 400. The processing device 500 registers the patient image coordinate system and the mechanical base coordinate system based on the patient image and the first distance.

The operation principle of the surgical navigation coordinate system registration system 10 is as follows:

the bone screw 20 may be pre-implanted in the patient's bone. The index member 200 is coupled to the bone screw 20. Controls the medical imaging device 100 to image the patient to obtain an image of the patient. The location of the marker 200 can be identified in the patient image. The medical imaging device 100 sends the patient image to the processing device 500. The processing device 500 creates a three-dimensional stereoscopic image of the patient from the patient image, forming a patient image coordinate system. At the same time, the processing arrangement 500 acquires the position coordinates of each of the markers 200 in the patient image coordinate system.

The mechanical arm 300 is controlled to move, so that the distance detection device 400 is driven to move to search and measure the distance between the distance detection device 400 and each of the calibration pieces 200, and a first distance of each of the calibration pieces 200 is obtained. The distance detection means 400 sends the first distance to the processing means 500. The processing device 500 calculates the position coordinates of each of the markers 200 in the robot base coordinate system according to a predetermined calculation method based on the first distance and the relative position relationship between the distance detecting device 400 and the robot 300. In a specific embodiment, where the distance detection device 400 is a laser distance sensor, the processing device 500 may calculate the position coordinates of the calibration piece 200 in the robot base coordinate system as follows: assuming that the first distance of each of the targets 200 is d, the coordinates of the center point of the target 200 in the distance sensor coordinate system are (0,0, d); according to the rotation relation R and the translation relation T between the coordinates of the pre-installed laser distance sensor and the mechanical arm base, the coordinate of the central point of the calibration piece 200 in the mechanical arm coordinate system is obtained as follows: r (0,0, d)' + T.

The processing device 500 establishes a translation and transformation relationship between the patient image coordinate system and the robot arm base coordinate system according to the position coordinates of each calibration piece 200 in the patient image coordinate system and the position coordinates thereof in the robot arm base coordinate system, so as to realize registration of the patient image coordinate system and the robot arm base coordinate system.

After the coordinate system registration is completed, if registration verification is required, a verification tool 301 may be installed at the end of the robot 300. The verification tool 301 is used to contact the calibration piece 200, determine the position coordinates of the calibration piece 200, and verify the correctness of the position coordinates of the calibration piece 200 detected by the distance detection device 400 as described above. The verification tool 301 is mounted to the end of the robot 300 and controls the robot 300 to move such that the verification tool 301 contacts the index 200. At this time, the position coordinates of the verification tool 301 in the arm base coordinate system are obtained, and the verification position coordinates of the calibration piece 200 in the arm base coordinate system can be obtained. The verification of registration can be achieved by comparing the verification position coordinates with the calculated position coordinates of the calibration piece 200 in the robot base coordinate system.

In this embodiment, the surgical navigation coordinate system registration system 10 includes a medical imaging device 100, a calibration piece 200, a robotic arm 300, a distance detection device 400, and a processing device 500. The medical imaging device 100 images a patient, resulting in a patient image. The distance detecting means 400 is capable of detecting the distance to the index member 200, resulting in the first distance. The processing device 500 is capable of registering the patient image coordinate system and the mechanical base coordinate system based on the patient image and the first distance. The surgical navigation coordinate system registration system 10 provided in this embodiment can realize coordinate system registration without contacting the calibration piece 200 by providing the distance detection device 400. The surgical navigation coordinate system registration system 10 does not need the mechanical arm 300 to clamp a tool to contact the calibration piece, so that the tool clamping position of the mechanical arm 300 does not need to be occupied, and therefore, tools at the tail end of the mechanical arm do not need to be replaced in two stages of coordinate system registration and registration verification, and operation is simplified. In addition, the distance detecting means 400 does not contact the index member 200 installed in the patient's body, and thus, sterilization is not required, simplifying the operation. Meanwhile, the distance detection device 400 is fixedly installed on the mechanical arm 300, so that the procedure of position calibration of the tail end tool by a position calibration piece in the tail end tool replacement in the traditional technology can be omitted, the operation is simplified, the installation error caused in the tool replacement process can be avoided, and the accuracy of coordinate system registration is improved. Finally, the distance detecting device 400 does not need to contact the calibration member 200, so that the robot arm 300 has a larger moving space and is more convenient for a user to use compared to the conventional art.

In one embodiment, the distance detection device 400 includes at least one of a laser distance detection device, a radar distance detection device, a depth camera. The laser distance detection device, the radar distance detection device and the depth camera are not limited in structure, model and size, and the distance between the laser distance detection device, the radar distance detection device and the calibration piece 200 can be measured.

In a specific embodiment, the depth camera may be a structured light depth camera, may be a TOF (Time of flight) monocular depth camera, and may also be a binocular camera.

In one embodiment, the distance detection device 400 may be fixedly disposed on an XOY plane in the robot joint coordinate system of the robot arm 300. That is, a connection line between the distance detecting device 400 and the index 200 is parallel to the Z-axis of the robot joint coordinate system. The position coordinates of the zero point position of the distance detection device 400 in the robot arm joint coordinate system are (x, y, 0). Assuming that the distance detection means 400 measures the distance d between the calibration piece 200 and the distance detection means 400, the position coordinates of the calibration piece 200 in the robot joint coordinate system are (x, y, d). Further, the position coordinates of the calibration piece 200 in the robot base coordinate system can be calculated through the conversion relationship between the robot joint coordinate system and the robot base coordinate system. In this embodiment, the distance detection device 400 is fixedly installed on the XOY plane in the robot joint coordinate system of the robot 300, so that the calculation process can be simplified and the efficiency of the coordinate system arrangement can be improved.

The calibration piece 200 is explained below with reference to the embodiment.

The structure of the index piece 200 may be various, and in one embodiment, the index piece 200 is a sphere or a structure of a polyhedron inscribed in a sphere. Fig. 2 shows the calibration piece 200 as a spherical inscribed regular polyhedron structure. The size of the index 200 may be selected according to actual requirements as long as it can be measured by the distance detection device 400 and recognized by the medical imaging device 100.

With continued reference to fig. 2, in one embodiment, the surface of the index piece 200 is provided with an indication pattern 201. The indication pattern 201 is used to indicate a measurement position of the distance detection apparatus 400. The specific shape and size of the indication pattern 201 can be selected according to practical applications, for example, the indication pattern 201 can be a circle, and the center of the circle can be further marked. The laser distance detection device starts to detect when light irradiates the center of a circle. By arranging the indication pattern 201 on the surface of the calibration piece 200, the distance detection device 400 can conveniently identify the distance, and the detection efficiency and accuracy are improved.

Referring to fig. 3, an embodiment of the present application further provides a surgical navigation system, which includes the surgical navigation coordinate system registration system 10 as described above. In addition, the surgical navigation system further includes a robot arm control device 30. The robot arm control device 30 is communicatively connected to the robot arm 300 for controlling the operation of the robot arm 300. The robot control device 30 may be a computer device, a PLC (Programmable Logic Controller), or another device including a processor. The robot arm control device 30 is also communicatively connected to the processing device 500. The processing device 500 may be further configured to send control information to the robot arm control device 30 according to the registration result of the patient image coordinate system and the mechanical base coordinate system, so as to control the robot arm control device 30 to operate, and further enable the robot arm control device 30 to control the movement of the robot arm 300 according to the control information.

The surgical navigation system provided in this embodiment includes the surgical navigation coordinate system registration system 10 as described above, and therefore, all the beneficial effects of the surgical navigation coordinate system registration system are achieved, and no further description is provided herein.

Referring to fig. 4, an embodiment of the present application further provides a surgical navigation coordinate system registration method, which can be used for the surgical navigation coordinate system registration system 10 as described above. For the specific structure of the surgical navigation coordinate system registration system 10 in this embodiment, reference is made to the above-mentioned embodiment, and details are not repeated. In the embodiment of the present application, an executing subject is taken as an example of the processing device 500, and a method for registering a surgical navigation coordinate system is described. The method comprises the following steps:

s10, obtaining the distance information between the distance detecting device 400 and the index piece 200 to obtain the first distance.

The distance detecting means 400 detects the distance to the calibration piece 200, obtains the first distance, and transmits the first distance to the processing means 500.

And S20, determining the position coordinates of the calibration piece 200 in the robot arm base coordinate system according to the first distance to obtain first coordinates.

The processing device 500 determines the position coordinates of the calibration piece 200 in the robot base coordinate system as the first coordinates by using the first distance as an input parameter in combination with other parameters (e.g., relative position relationship parameters between the mounting distance detecting device 400 and the robot base).

S30, obtaining the position coordinates of the calibration piece 200 in the patient image coordinate system, and obtaining the second coordinates.

The medical imaging device 100 transmits patient image information to the processing device 500. The processing device 500 processes the patient image information, creates a three-dimensional model of the patient image information, and determines a patient image coordinate system. At the same time, the position of the calibration member 200 in the patient image is identified, and the position coordinates of the calibration member 200 in the patient image coordinate system, denoted as second coordinates, are determined.

And S40, registering the patient image coordinate system with the mechanical arm base coordinate system according to the first coordinate and the second coordinate.

The processing device 500 calculates the translation and transformation relationship between the first coordinate and the second coordinate according to the first coordinate and the second coordinate obtained above, so as to realize the registration of the patient image coordinate system and the mechanical base coordinate system. Wherein, the first distance and the number of the first coordinates can be set into a plurality of groups according to requirements. It will be appreciated that the more first distances and first coordinates are acquired, the more accurate the result of the registration.

In this embodiment, the first distance is obtained by obtaining the distance information between the distance detection device 400 and the calibration piece 200, and the position coordinate of the calibration piece 200 in the robot arm base coordinate system is further determined according to the first distance, so as to obtain the first coordinate. Compared with the method for acquiring the position of the calibration piece in the mechanical arm base coordinate system through tool contact in the traditional technology, the surgical navigation coordinate system registration method provided by the embodiment eliminates the factor of inaccurate position coordinate extraction caused by insufficient contact, and improves the accuracy of coordinate registration.

Referring to fig. 5, the present embodiment relates to a possible implementation manner of determining the position of the calibration piece 200 in the robot arm coordinate system according to the first distance to obtain the first coordinate, that is, S20 includes:

s210, acquiring the position coordinates of the distance detection device 400 in the robot arm joint coordinate system to obtain the coordinates of the detection device.

The detection device coordinates refer to position coordinates of the distance detection device 400 in a coordinate system of the end joint of the robot arm 300 to which it is mounted, and are used to represent a relative positional relationship between the distance detection device 400 and the end joint of the robot arm 300. As described in the previous embodiment, the distance detection means 400 is fixedly mounted to the robot arm 300, and thus the relative positional relationship between the distance detection means 400 and the end joint of the robot arm 300 is fixed.

And S220, obtaining the coordinates of the calibration piece 200 in the joint coordinate system of the mechanical arm according to the first distance and the coordinates of the detection device.

Based on the first distance detected by the distance detection device 400 and the relative position relationship between the distance detection device 400 and the end joint of the robot arm, the position coordinates of the calibration piece 200 in the robot arm joint coordinate system can be calculated. For example, as described in the previous embodiment, if the distance detection device 400 is fixedly installed on the X0Y plane in the robot joint coordinate system, the detection device coordinate is (X, y, 0). Assuming that the first distance is d, the coordinates of the calibration piece 200 in the robot joint coordinate system are (x, y, d).

And S230, acquiring a conversion relation between a mechanical arm joint coordinate system and a mechanical arm base coordinate system.

The relationship between the robot joint coordinate system and the robot base coordinate system is determined by the structure of the robot itself, and may be stored in the processing device 500 in advance as a known amount.

And S240, determining a first coordinate according to the conversion relation between the robot joint coordinate system and the robot base coordinate system and the coordinate of the calibration piece 200 in the robot joint coordinate system.

The processing device 500 calculates the coordinates of the calibration piece 200 in the arm joint coordinate system and the transformation relationship between the arm joint coordinate system and the arm base coordinate system, which are obtained in S220 and S230, respectively, so as to calculate the position coordinates of the calibration piece in the arm base coordinate system, i.e. the first coordinates.

Referring to fig. 6, the present embodiment relates to a possible implementation manner of obtaining the distance information between the distance detecting device 400 and the calibration piece 200 to obtain the first distance, that is, S10 includes:

s110, obtaining distance information of the distance detection device 400 and the measuring surface of the calibration piece 200 to obtain surface distance information;

s120, obtaining distance information between the measuring surface of the calibration piece 200 and the center of the calibration piece 200 to obtain the center distance;

and S130, obtaining a first distance according to the surface distance and the center distance.

With the structure of the index 200 fixed, the distance between the measuring surface of the index and the center of the index is fixed and known. The distance detection device 400, such as a laser distance detection device, may generally detect its distance from the surface of the object. Therefore, by adding the surface distance and the center distance, the distance from the detecting device 400 to the center of the index 200 can be calculated. The distance is used as a first distance, and the position coordinates of the calibration piece 200 obtained through calculation are used as a calibration point, namely the center of the calibration piece 200, so that the obtained position calibration of the patient is more accurate, and the coordinate system registration and the subsequent operation navigation are more accurate.

In the method provided in the above embodiment, the distance detection device 400 searches and detects the calibration piece 200 by manually moving the robot arm 300 to drive the distance detection device 400 to move. Referring to fig. 7, in an embodiment, the finding and detecting of the calibration piece 200 by the distance detecting device 400 can also be realized by an automatic control method. The method provided by the present embodiment may be based on the surgical navigation system as described above. In addition, the surgical navigation coordinate system registration system may further include a distance coarse detection device 600. The distance coarse detection means 600 is used for detecting the distance to the calibration piece 200. The distance rough detection device 600 is in communication connection with the processing device 500. The distance coarse detection means 600 may be the same as the distance detection means described above. The distance rough detection device 600 may also include at least one of a laser distance detection device, a radar distance detection device, and a depth camera.

The distance rough detection device 600 may be fixedly disposed on a platform for performing the registration of the surgical navigation coordinate system. The specific setting position of the distance measuring device 600 can be adjusted according to the requirement, so as to detect the calibration piece 200 to be detected.

Referring to fig. 8, based on the above structure, in an embodiment, the method for obtaining the distance information between the distance detecting device 400 and the index 200 to obtain the first distance may be implemented by the following steps, that is, S10 includes:

s101, obtaining distance information between the optical rough detection device 600 and the calibration piece 200 to obtain a preliminary distance.

The method for measuring the preliminary distance by the optical rough detection device 600 is the same as the principle for measuring the first distance by the distance detection device 400, and is not described herein again. The optical rough inspection device 600 detects the obtained preliminary distance and transmits the distance to the processing device 500.

And S102, determining the position coordinates of the calibration piece 200 in the mechanical arm base coordinate system according to the preliminary distance to obtain preliminary coordinates.

The method for determining the position coordinates of the calibration piece 200 in the robot base coordinate system by the processing device 500 according to the preliminary distance may also refer to the above embodiments, and the method may be the same or similar, and is not described herein again.

S103, controlling the robot 300 to move according to the preliminary coordinates to obtain distance information between the distance detecting device 400 and the calibration piece 200, so as to obtain a first distance.

The processing means 500 plans the movement path of the robot arm based on the obtained preliminary coordinates of the calibration piece 200, and sends a control signal to the robot arm control means 30. The robot arm control device 30 controls the robot arm 300 to move according to the control signal, thereby realizing the automatic movement of the robot arm 300 to find and detect the target 200 to be detected.

The method provided by the embodiment initially obtains the distance of the calibration piece 200 by setting the distance coarse detection device 600, and further obtains the position coordinates of the calibration piece 200 to obtain the initial coordinates. The preliminary coordinates can guide the automatic control of the robot arm 300, and the automatic search and detection of the calibration piece 200 carried by the robot arm 300 and the distance detection device 400 can be realized. The method provided by the embodiment improves the intelligence of coordinate system registration, and improves the accuracy of detection of the calibration piece 200 through two times of distance and coordinate detection, thereby improving the accuracy of coordinate system registration and surgical navigation.

It should be understood that, although the steps in the flowchart are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

Referring to fig. 9, the embodiment of the present application further provides a surgical navigation coordinate system registration system 10, which includes a medical imaging device 100, a calibration piece 200, a mechanical arm 300, a distance detection device 400, and a processing device 500. The processing device 500 includes: a first distance acquisition module 510, a first coordinate determination module 520, a second coordinate acquisition module 530, and a registration module 540. Wherein the content of the first and second substances,

a first distance obtaining module 510, configured to obtain distance information between the distance detecting device 400 and the calibration piece 200, so as to obtain the first distance;

a first coordinate determination module 520, configured to determine, according to the first distance, a position coordinate of the calibration piece 200 in a robot base coordinate system, so as to obtain a first coordinate;

a second coordinate obtaining module 530, configured to obtain a position coordinate of the calibration piece 200 in the patient image coordinate system, so as to obtain a second coordinate;

a registration module 540, configured to register the patient image coordinate system and the robot arm base coordinate system according to the first coordinate and the second coordinate.

In one embodiment, the first coordinate determination module 520 is specifically configured to obtain position coordinates of the distance detection device 400 in a robot joint coordinate system, so as to obtain detection device coordinates; obtaining the coordinate of the calibration piece 200 in the robot arm joint coordinate system according to the first distance and the detection device coordinate; acquiring a conversion relation between the mechanical arm joint coordinate system and the mechanical arm base coordinate system; and determining the first coordinate according to the conversion relation between the robot joint coordinate system and the robot base coordinate system and the coordinate of the calibration piece 200 in the robot joint coordinate system.

In one embodiment, the first distance obtaining module 510 is specifically configured to obtain distance information between the distance detecting device 400 and the measuring surface of the calibration piece 200 to obtain a surface distance; acquiring distance information between the measuring surface of the calibration piece 200 and the center of the calibration piece 200 to obtain a center distance; and obtaining the first distance according to the surface distance and the center distance.

Referring to fig. 10, in one embodiment, the surgical navigation coordinate system registration system further includes a distance coarse detection device 600. The distance rough detection device 600 is in communication connection with the processing device 500 and is used for detecting the distance between the measuring device and the calibration piece 200; the first distance acquisition module 510 includes a preliminary distance acquisition unit 511, a preliminary coordinate acquisition unit 512, and a robot arm control unit 513. The preliminary distance obtaining unit 511 is configured to obtain a distance between the coarse distance detection device 600 and the calibration piece 200 to obtain a preliminary distance; the preliminary coordinate obtaining unit 512 is configured to determine the position coordinates of the calibration piece 200 in the robot arm base coordinate system according to the preliminary distance, so as to obtain preliminary coordinates; the robot arm control unit 513 is configured to control the robot arm 300 to move according to the preliminary coordinates to obtain information about the distance between the distance detecting device 400 and the calibration piece 200, so as to obtain the first distance.

Referring to fig. 11, in one embodiment, a computer device is provided, which may be a server, and the internal structure thereof may be as shown in fig. 11. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing source data, report data and the like. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a report generating method.

Those skilled in the art will appreciate that the architecture shown in fig. 11 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:

acquiring distance information between the distance detection device 400 and the calibration piece 200 to obtain the first distance;

determining the position coordinates of the calibration piece 200 in the mechanical arm base coordinate system according to the first distance to obtain first coordinates;

acquiring the position coordinates of the calibration piece 200 in the patient image coordinate system to obtain second coordinates;

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

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 application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A surgical navigational coordinate system registration system, comprising:

a medical imaging apparatus (100) for imaging a patient to obtain an image of the patient;

a marker (200), wherein the material of the marker (200) is identifiable material of the medical imaging device (100), and the marker (200) is used for being connected with a bone nail (20) implanted in the bone of the patient so as to mark the position information of the patient;

a robotic arm (300);

the distance detection device (400) is fixedly arranged on the mechanical arm (300) and used for detecting the distance between the mechanical arm and the calibration piece (200) to obtain a first distance;

a processing device (500) communicatively connected to the medical imaging device (100) and the distance detection device (400) for registering a patient image coordinate system and a robot arm base coordinate system based on the patient image and the first distance.

2. The surgical navigational coordinate system registration system of claim 1, wherein the distance detection device (400) includes at least one of a laser distance detection device, a radar distance detection device, a depth camera.

3. The surgical navigational coordinate system registration system according to claim 1, wherein the index (200) surface is provided with an indication pattern (201), the indication pattern (201) being used to indicate the measurement position of the distance detection device (400).

4. The surgical navigational coordinate system registration system of claim 1, wherein the index (200) is a sphere or a sphere inscribed regular polyhedron.

5. The surgical navigational coordinate system registration system of claim 1, wherein the distance detection device (400) is fixedly disposed at an X0Y plane in a robotic arm joint coordinate system of the robotic arm (300).

6. A surgical navigation system, comprising:

the surgical navigational coordinate system registration system (10) as set forth in any one of claims 1-5;

a robot control device (30) communicatively connected to the processing device (500) and the robot (300) for controlling the movement of the robot (300);

the processing means (500) is further adapted to control the robot control means (30) in dependence of a registration result of the patient image coordinate system and the robot base coordinate system.

7. A surgical navigation coordinate system registration method applied to the surgical navigation coordinate system registration system according to any one of claims 1 to 5, the method comprising:

acquiring distance information between the distance detection device (400) and the calibration piece (200) to obtain the first distance;

determining the position coordinate of the calibration piece (200) in the mechanical arm base coordinate system according to the first distance to obtain a first coordinate;

acquiring the position coordinates of the calibration piece (200) in the patient image coordinate system to obtain second coordinates;

8. The method of claim 7, wherein said determining location coordinates of said target (200) in said robot arm coordinate system based on said first distance, resulting in first coordinates, comprises:

acquiring the position coordinates of the distance detection device (400) in a mechanical arm joint coordinate system to obtain the coordinates of the detection device;

obtaining the coordinates of the calibration piece (200) in the mechanical arm joint coordinate system according to the first distance and the detection device coordinates;

and determining the first coordinate according to the conversion relation between the mechanical arm joint coordinate system and the mechanical arm base coordinate system and the coordinate of the calibration piece (200) in the mechanical arm joint coordinate system.

9. The method of claim 7, wherein said obtaining distance information between said distance sensing device (400) and said target (200) to obtain a first distance comprises:

acquiring distance information of the distance detection device (400) and the measuring surface of the calibration piece (200) to obtain the surface distance;

acquiring distance information between the measuring surface of the calibration piece (200) and the center of the calibration piece (200) to obtain the center distance;

10. The method according to claim 7, wherein the surgical navigational coordinate system registration system further comprises a distance coarse detection device (600), the distance coarse detection device (600) being communicatively connected to the processing device (500) for detecting the distance to the calibration piece (200);

the obtaining of the distance information between the distance detection device (400) and the calibration piece (200) to obtain a first distance includes:

acquiring the distance between the distance rough detection device (600) and the calibration piece (200) to obtain a preliminary distance;

determining the position coordinates of the calibration piece (200) in the mechanical arm base coordinate system according to the preliminary distance to obtain preliminary coordinates;

and controlling the mechanical arm (300) to move according to the preliminary coordinates so as to acquire distance information between the distance detection device (400) and the calibration piece (200) and obtain the first distance.

11. A surgical navigational coordinate system registration system, comprising a medical imaging device (100), a calibration piece (200), a robotic arm (300), a distance detection device (400), and a processing device (500), the processing device (500) comprising:

a first distance obtaining module (510) for obtaining distance information between the distance detecting device (400) and the index piece (200) to obtain the first distance;

the first coordinate determination module (520) is used for determining the position coordinates of the calibration piece (200) in a mechanical arm base coordinate system according to the first distance to obtain first coordinates;

a second coordinate acquisition module (530) for acquiring the position coordinates of the calibration piece (200) in the patient image coordinate system to obtain second coordinates;

a registration module (540) for registering the patient image coordinate system with the robotic arm base coordinate system according to the first and second coordinates.

12. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the method of any one of claims 7 to 10 when executing the computer program.

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 the method of any one of claims 7 to 10.