CN110840534B - Puncture speed planning method and device, puncture equipment and computer storage medium - Google Patents
Puncture speed planning method and device, puncture equipment and computer storage medium Download PDFInfo
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- CN110840534B CN110840534B CN201911319613.0A CN201911319613A CN110840534B CN 110840534 B CN110840534 B CN 110840534B CN 201911319613 A CN201911319613 A CN 201911319613A CN 110840534 B CN110840534 B CN 110840534B
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
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Abstract
The invention discloses a puncture speed planning method, a puncture speed planning device, puncture equipment and a computer storage medium, wherein the puncture speed planning method comprises the following steps: acquiring a mass center motion model of a puncture object and a target puncture position; detecting an initial pose of the tail end of the puncture device and an initial centroid position of a centroid of a puncture object; based on the mass center motion model, under the condition that the mass center position corresponding to the initial puncture time is the initial mass center position and the mass center position corresponding to the puncture termination time is the target puncture position, determining the puncture planning speed according to the initial pose, the initial mass center position and the target puncture position. The method can comprehensively consider the motion time of the mechanical arm based on the dynamic position model of the center of mass of the puncture object under the human body respiration condition, and accurately plan the puncture speed of the mechanical arm, so that accurate puncture of the puncture object is realized.
Description
Technical Field
The embodiment of the invention relates to the technology of medical instruments, in particular to a puncture speed planning method, a puncture speed planning device, puncture equipment and a computer storage medium.
Background
Along with the development of robot technology, equipment such as puncture robot is applied to the puncture of focuses such as tumour gradually, but because the human body need breathe in the puncture process, the focus position that needs the puncture may move along with human breathing, and traditional automatic puncture method can't adjust the displacement that the breathing leads to, and piercing depth can not carry out accurate puncture to the focus when leading to human breathing, may cause unexpected injury to the object of puncturing.
Disclosure of Invention
Based on this, the present invention provides a method, an apparatus, a computer device and a storage medium for planning a puncture speed, which can automatically plan a puncture speed to achieve accurate puncture of a puncture object.
In a first aspect, an embodiment of the present invention provides a method for planning a puncture speed, where the method includes:
acquiring a mass center motion model of a puncture object and a target puncture position;
detecting an initial pose of the tail end of the puncture device and an initial centroid position of a centroid of a puncture object;
based on the mass center motion model, under the condition that the mass center position corresponding to the initial puncture time is the initial mass center position and the mass center position corresponding to the puncture termination time is the target puncture position, determining the puncture planning speed according to the initial pose, the initial mass center position and the target puncture position.
According to the puncture speed planning method, the puncture speed of the mechanical arm can be accurately planned based on the dynamic position model of the center of mass of the puncture object under the human body respiration condition by comprehensively considering the motion time of the mechanical arm, so that accurate puncture of the puncture object is realized.
In one embodiment, the step of determining a puncture planning velocity from the initial pose, the initial centroid position, and the target puncture position comprises:
carrying out discrete value taking in a preset speed parameter interval, and respectively calculating corresponding puncture termination time according to each obtained speed parameter discrete value, the initial pose, the initial centroid position and the target puncture position;
finding out a speed discrete value corresponding to the mass center motion model when the puncture termination time is used as a variable and the target puncture position is used as a target value;
and calculating the puncture planning speed according to the searched speed parameter discrete value and the puncture termination time.
In one embodiment, the speed parameter comprises a puncture acceleration and/or a puncture speed.
In one embodiment, the step of calculating the corresponding puncture termination time according to the obtained discrete values of the speed parameters, the initial pose, the initial centroid position and the target puncture position includes:
determining initial puncture time according to the initial centroid position and the centroid motion model;
calculating a first puncture time for puncture direction alignment and a second puncture time for puncture linear motion according to the initial pose, the target puncture position and the speed parameter discrete value;
and determining the puncture termination time according to the initial time, the first puncture time and the second puncture time.
In one embodiment, the discrete velocity parameter values include discrete angular acceleration values in a first puncture time and discrete linear acceleration values in a second puncture time, and the step of calculating a first puncture time for puncture direction alignment and a second puncture time for puncture linear motion according to the initial pose, the target puncture position, and the discrete velocity parameter values includes:
determining an adjustment pose according to the initial pose and the target puncture position;
calculating a first puncture time according to the angular acceleration discrete value, the initial pose and the adjusted pose;
and calculating second puncture time according to the linear acceleration discrete value, the adjustment pose and the target puncture position.
In one embodiment, before the step of obtaining the centroid motion model of the puncturing object and the target puncturing position, the method further comprises:
acquiring the centroid coordinates of the puncture object at each moment within a preset time range;
and fitting a curve of the centroid coordinates changing along with time to obtain the centroid motion model.
In one embodiment, the step of fitting the curve of the centroid coordinates over time to obtain the centroid motion model comprises:
fitting the centroid coordinates of each coordinate dimension by adopting a least square method to obtain a time variation curve of each coordinate dimension;
and determining the centroid motion model based on the time change curve of each coordinate dimension.
In a second aspect, an embodiment of the present invention further provides a puncture speed planning apparatus, where the puncture speed planning apparatus includes:
the data acquisition module is used for acquiring a mass center motion model of the puncture object and a target puncture position;
the pose detection module is used for detecting an initial pose of the tail end of the puncture device and an initial mass center position of a mass center of the puncture object;
and the speed planning module is used for determining a puncture planning speed according to the initial pose, the initial centroid position and the target puncture position on the basis of the centroid motion model under the condition that the centroid position corresponding to the initial puncture time is the initial centroid position and the centroid position corresponding to the puncture termination time is the target puncture position.
Above-mentioned puncture speed planning device can be based on the dynamic position model of puncture object barycenter under the human breathing condition, the time of the arm motion of comprehensive consideration, and the puncture speed of accurate planning out the arm to the realization is to the accurate puncture of puncture object.
In a third aspect, an embodiment of the present invention further provides a puncturing apparatus, including a puncturing device, a mechanical arm, a memory, a processor, and a computer program stored in the memory and executable on the processor; wherein the puncture device is arranged at the tail end of the mechanical arm; the processor is in communication connection with the mechanical arm, and is used for controlling the mechanical arm to move so as to drive the puncture device to puncture, and the processor is further used for implementing the puncture speed planning method when executing the program.
Above-mentioned puncture equipment can be based on the dynamic position model of puncture object barycenter under the human breathing condition, the time of considering the arm motion comprehensively, and the accurate puncture speed of planning out the arm to the realization is to the accurate puncture of puncture object.
In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the puncture speed planning method as described above.
Drawings
FIG. 1 is a schematic flow chart of a method for puncture rate planning in one embodiment;
FIG. 2 is a flow diagram illustrating the steps of determining a puncture planning velocity based on an initial pose, an initial centroid position, and a target puncture position, according to one embodiment;
FIG. 3 is a flowchart illustrating the steps of calculating the corresponding puncture termination time according to the obtained discrete values of the velocity parameters, the initial pose, the initial centroid position, and the target puncture position in one embodiment;
FIG. 4 is a flow chart illustrating steps for calculating a first puncture time for puncture direction alignment and a second puncture time for puncture linear motion according to an initial pose, a target puncture position, and discrete values of velocity parameters in one embodiment;
FIG. 5 is a schematic flow chart of a method for programming a puncture rate in accordance with another embodiment;
FIG. 6 is a schematic flow chart of steps for fitting a time-varying curve of centroid coordinates to obtain a centroid motion model in one embodiment;
FIG. 7 is a schematic diagram of the puncture speed planning apparatus according to an embodiment;
FIG. 8 is a schematic view of the structure of the lancing apparatus in one embodiment.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a schematic flow chart of a method for planning a puncture speed in an embodiment, as shown in fig. 1, in an embodiment, a method for planning a puncture speed includes:
step S120: and acquiring a mass center motion model of the puncture object and a target puncture position.
Specifically, the puncture speed planning method in this embodiment may be applied to a puncture device such as a puncture robot with a mechanical arm, where a puncture device such as a puncture needle for performing puncture is provided at a distal end of the mechanical arm, and a puncture object may generally be a tumor or a lesion. In the process of puncturing, a mass center motion model of a puncturing object and a target puncturing position need to be obtained. The target puncture position is generally the center of mass of the puncture object, i.e. the center of mass. The centroid motion model can be obtained by acquiring the relation that the three-dimensional coordinate of the centroid of the puncture object in the CT equipment coordinate system changes along with time within a preset time range before puncture. It is understood that in other embodiments, the geometric center or other parts of the puncturing object may be used as the target puncturing position, and when other positions are used as the target puncturing position, a motion model of the corresponding position needs to be acquired.
Step S140: and detecting the initial pose of the tail end of the puncture device and the initial mass center position of the mass center of the puncture object.
Specifically, at the start of puncturing, it is necessary to determine an initial pose of the tip of the puncturing device and an initial centroid position of the centroid of the puncturing object. Wherein the initial pose of the tail end of the puncture device comprises the position coordinate of the tail end of the puncture device and the direction vector of the tail end puncture device. The initial centroid position of the centroid of the puncture object is the position of the centroid of the puncture object when the puncture starts, and can be specifically determined by imaging equipment such as CT and the like.
Step S160: based on the mass center motion model, under the condition that the mass center position corresponding to the initial puncture time is the initial mass center position and the mass center position corresponding to the puncture termination time is the target puncture position, determining the puncture planning speed according to the initial pose, the initial mass center position and the target puncture position.
Specifically, due to the action of human respiration, after the puncture starts, the mass center of the puncture object moves along with the respiration, the real-time position of the mass center in the puncture time can be judged according to the mass center motion model, and the mass center needs to be punctured accurately, so that the puncture device needs to ensure that the tail end of the puncture device moves to the target puncture position from the initial puncture position and the mass center of the puncture object also moves to the target puncture position from the initial mass center position when the puncture is started to the puncture is ended, and discrete iteration can be performed on the speed parameter of the puncture according to the mass center motion model, so that the speed parameter meeting the puncture condition at each moment in the puncture time is determined, and the puncture planning speed is obtained.
According to the puncture speed planning method, the puncture speed of the mechanical arm can be accurately planned based on the dynamic position model of the center of mass of the puncture object under the human body respiration condition by comprehensively considering the motion time of the mechanical arm, so that accurate puncture of the puncture object is realized.
Fig. 2 is a schematic flow chart illustrating the step of determining the puncture planning speed according to the initial pose, the initial centroid position, and the target puncture position in one embodiment, as shown in fig. 2, in one embodiment, the step S160 may specifically include:
step S162: and carrying out discrete value taking in a preset speed parameter interval, and respectively calculating corresponding puncture termination time according to the obtained discrete value of each speed parameter, the initial pose, the initial centroid position and the target puncture position.
Step S164: and finding out a speed discrete value corresponding to the centroid motion model when the puncture termination time is used as a variable and the target puncture position is used as a target value.
Step S166: and calculating the puncture planning speed according to the searched speed parameter discrete value and the puncture termination time.
In particular, the speed parameters may comprise, among others, a puncture acceleration as well as a puncture speed. The parameter intervals of the puncture acceleration and the puncture speed may be determined according to the specifications of the puncture device and the robot arm, the puncture request, and other parameters, and may be set to 0 to the maximum acceleration of the robot arm and 0 to the maximum speed of the robot arm, for example. Firstly, the initial puncture time can be determined in a centroid motion model according to an initial centroid position, discrete value taking is carried out in a preset speed parameter interval, corresponding puncture termination time is calculated, iteration is carried out by taking the puncture termination time as a variable and the target puncture position as a target value, and finally speed parameters meeting conditions are screened out, so that the puncture speed at each moment is calculated.
Further, in discrete iterations, one or more sets of velocity parameters may or may not be obtained that satisfy the puncturing condition. If there is only one set of speed parameters that can satisfy the puncturing condition, the speed parameters are the speed parameters of the selected puncturing planning speed, and if there are multiple sets of speed parameters that can satisfy the puncturing condition, the better speed parameters can be selected as the speed parameters of the selected puncturing planning speed, for example, the speed parameter with the shortest puncturing time can be selected. If no speed parameter is present, the range of the speed parameter may be adjusted, or the position of the target object or the puncture device may be adjusted until the speed parameter is present, so that the puncture condition may be satisfied.
Fig. 3 is a schematic flow chart of the step of calculating the corresponding puncture termination time according to the obtained discrete value of each velocity parameter, the initial pose, the initial centroid position, and the target puncture position in one embodiment, and as shown in fig. 3, the step S162 may specifically include:
step S1622: and determining the initial puncture time according to the initial centroid position and the centroid motion model.
Step S1624: and calculating a first puncture time for puncture direction alignment and a second puncture time for puncture linear motion according to the initial pose, the target puncture position and the speed parameter discrete value.
And a step S1626 of determining a puncture termination time according to the initial time, the first puncture time and the second puncture time.
Specifically, the initial puncture time may be denoted as t0At t0The pose of the tail end of the puncture device at the moment is recorded as P0，P0Including the position coordinates of the tip of the puncturing device, and a vector R representing the pointing direction of the tip of the puncturing device0The position of the center of mass of the object to be punctured is denoted as Q0And the target puncture position which the tail end of the puncture device needs to reach finally is recorded as Q1Slave Q of the puncturing object0Move to Q1The required time is t, the path of the mechanical arm is divided into two stages, the first stage requires the mechanical arm to adjust the direction of the tail end of the puncture device, and the tail end of the puncture device is adjusted from the current posture by R0To a final position Q aligned with the object of penetration1The attitude of the tip of the puncture device at this stage is denoted as P1The time taken is recorded as the first puncture time t1The second stage is to move the tip of the puncture device from the position P1Moved in a straight line to position Q1And the time is recorded as the second puncture time t2. At an initial time t0On the basis of (a), adding a first puncture time t1And a second puncture time t2The puncture termination time, i.e. the initial time t, can be obtained0First puncture time t1Second puncture time t2Initial centroid position Q0And target puncture position Q1Initially satisfies the following equation:
fig. 4 is a schematic flowchart illustrating the above-mentioned step of calculating a first puncture time for puncture direction alignment and a second puncture time for puncture linear motion according to the initial pose, the target puncture position, and a discrete value of a velocity parameter, in an embodiment, the discrete value of the velocity parameter includes a discrete value of angular acceleration in the first puncture time and a discrete value of linear acceleration in the second puncture time, as shown in fig. 4, and the above-mentioned step S1624 may specifically include:
step S16242: and determining an adjustment pose according to the initial pose and the target puncture position.
And S16244, calculating first puncture time according to the angular acceleration discrete value, the initial pose and the adjustment pose.
And step S16246, calculating second puncture time according to the linear acceleration discrete value, the adjustment pose and the target puncture position.
In particular, at a first puncture time t1Adjusting the end of the inner and outer puncture devicesDirection, no movement of position, and therefore at a first puncture time t1The inner velocity parameter is the angular acceleration of the puncturing device at the second puncturing time t2The end of the puncture device moves linearly in the adjusted direction, so that at the second puncture time t2The velocity parameter is the linear acceleration of the puncture device. Thereby can note P according to the initial pose0And position adjustment posture note P1The angular difference between the two can be calculated to calculate the first puncture time t corresponding to each angular acceleration discrete value1(ii) a According to the initial adjustment posture note P1And target puncture position Q1The distance difference between the first and second puncture time values can be calculated, and the second puncture time t corresponding to each linear velocity discrete value can be calculated2。
Fig. 5 is a schematic flow chart of a puncturing speed planning method in another embodiment, and in an embodiment, as shown in fig. 5, before the step S120, the puncturing speed planning method in this embodiment may further include:
step S112: and acquiring the mass center coordinate of the puncture object at each moment in a preset time range.
And step S114, fitting a curve of the centroid coordinate changing along with time to obtain a centroid motion model.
Specifically, before performing the puncture, the doctor can obtain the three-dimensional coordinates of the centroid of the puncture object in the coordinate system of the CT device at each moment in a preset time range according to the imaging device such as CT. Specifically, the time may be denoted as t, and the coordinates of the centroid of the object to be punctured may be denoted as [ x, y, z ]]Acquiring the corresponding relation between the centroid coordinate of the puncture object and the time within a period of time, wherein each group of acquired data is stored according to the following structure:
therefore, the corresponding relation between the centroid coordinate of the puncture object and the time within the preset time can be obtained, and the curve of the centroid coordinate of the puncture object changing along with the time is fitted according to the corresponding relation, so that the centroid motion model of the puncture object is determined.
Fig. 6 is a schematic flow chart of the step of fitting a curve of the centroid coordinate changing with time to obtain the centroid motion model in an embodiment, and in an embodiment, as shown in fig. 6, the step S1624 may specifically include:
step S1142: and fitting the centroid coordinates of each coordinate dimension by adopting a least square method to obtain a time change curve of each coordinate dimension.
And S1144, determining a mass center motion model based on the time change curve of each coordinate dimension.
Specifically, the variation curve of the centroid coordinate with time may be fitted in a least square method, and specifically, the collected centroid coordinate data of the puncture object may be fitted into a second-order fourier order in each dimension according to the following formula:
F(t)＝A0+A1cos(Ω*t)+B1sin(Ω*t)+A2cos(2*Ω*t)+B2sin(2*Ω*t)
by fitting, solve for A0，A1，B1，B2And omega five parameters, namely determining a corresponding equation of the centroid coordinate of the puncture object and time, thereby obtaining a centroid motion model of the puncture object.
Fig. 7 is a schematic structural diagram of a puncture speed planning apparatus according to an embodiment, and as shown in fig. 7, in an embodiment, a puncture speed planning apparatus 300 includes: the data acquisition module 320 is used for acquiring a mass center motion model of the puncture object and a target puncture position; a pose detection module 340 for detecting an initial pose of the tip of the puncture device and an initial centroid position of the centroid of the puncture object; and the speed planning module 360 is configured to determine a puncture planning speed according to the initial pose, the initial centroid position and the target puncture position on the basis of the centroid motion model under the condition that the centroid position corresponding to the initial puncture time is the initial centroid position and the centroid position corresponding to the puncture termination time is the target puncture position.
Above-mentioned puncture speed planning device 300 can be based on the dynamic position model of puncture object barycenter under the human breathing condition, the time of considering the arm motion comprehensively, and the puncture speed of accurate planning out the arm to the realization is to the accurate puncture of puncture object.
It can be understood that the puncture speed planning device provided by the embodiment of the present invention can execute the puncture speed planning method provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects of the execution method. The units and modules included in the puncture speed planning apparatus in the above embodiment are only divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
FIG. 8 is a schematic diagram of the lancing apparatus in one embodiment, as shown in FIG. 8, in one embodiment, a lancing apparatus 500 is provided, comprising a lancing device, a robotic arm, a memory, a processor, and a computer program stored in the memory and executable on the processor; wherein the puncture device is arranged at the tail end of the mechanical arm; the processor is in communication connection with the mechanical arm, the processor is used for controlling the mechanical arm to move so as to drive the puncture device to puncture, and the processor is further used for executing the following steps: acquiring a mass center motion model of a puncture object and a target puncture position; detecting an initial pose of the tail end of the puncture device and an initial centroid position of a centroid of a puncture object; based on the mass center motion model, under the condition that the mass center position corresponding to the initial puncture time is the initial mass center position and the mass center position corresponding to the puncture termination time is the target puncture position, determining the puncture planning speed according to the initial pose, the initial mass center position and the target puncture position.
Specifically, the puncture device 500 may be a puncture robot, the puncture device 500 is provided with a mechanical arm 540, the mechanical arm 540 may move in a multi-dimensional direction, the end of the mechanical arm 540 is provided with a puncture device 520, the puncture device 520 and the mechanical arm 540 may be detachably connected, the puncture device 520 may specifically be a puncture needle or the like, the type and specification of the puncture device 520 may be determined according to actual puncture requirements
The puncturing device 500 further comprises a processor 560 and a memory, the processor 500 and the memory may be disposed inside the main body of the robotic arm 540 or may be disposed outside the robotic arm 540 independently, the processor 560 is in communication with the robotic arm 540, the processor 560 may control the movement of the robotic arm 540 so as to drive the puncturing device 540 to puncture, and the processor 560 may; based on the mass center motion model, the puncturing speed at each moment is calculated according to the target puncturing position, the initial pose of the tail end of the puncturing device and the initial mass center position of the mass center of the puncturing object, so that the puncturing device 540 is controlled to puncture, and the mass center of the puncturing object can be punctured accurately.
It is understood that the puncture device provided by the embodiments of the present invention, the processor of which executes the program stored in the memory, is not limited to the method operations described above, and may also execute the related operations in the puncture speed planning method provided by any embodiments of the present invention.
Further, the number of the processors in the lancing apparatus may be one or more, and the processors and the memory may be connected by a bus or other means. The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory may further include memory located remotely from the processor, which may be connected to the device/terminal/server via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
In one embodiment, the present invention also provides a computer readable storage medium having a computer program stored thereon, which when executed by a processor, causes the processor to perform the steps of: acquiring a mass center motion model of a puncture object and a target puncture position; detecting an initial pose of the tail end of the puncture device and an initial centroid position of a centroid of a puncture object; based on the mass center motion model, under the condition that the mass center position corresponding to the initial puncture time is the initial mass center position and the mass center position corresponding to the puncture termination time is the target puncture position, determining the puncture planning speed according to the initial pose, the initial mass center position and the target puncture position.
It is understood that the computer-readable storage medium containing the computer program according to the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the method for planning puncture speed according to any embodiments of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly can be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods described in the embodiments of the present invention.
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 embodiments only represent the preferred embodiments of the present invention and the technical principles applied, and the description is specific and detailed, but not to be construed as limiting the scope of the invention. Numerous variations, changes and substitutions will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in some detail by the above embodiments, the invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the invention, and the scope of the invention is determined by the appended claims.
Claims (9)
1. A method of puncture speed planning, comprising:
acquiring a mass center motion model of a puncture object and a target puncture position;
detecting an initial pose of the tail end of the puncture device and an initial centroid position of a centroid of a puncture object;
based on the mass center motion model, under the condition that the mass center position corresponding to the initial puncture time is the initial mass center position and the mass center position corresponding to the puncture termination time is the target puncture position, determining a puncture planning speed according to the initial pose, the initial mass center position and the target puncture position;
the step of determining a puncture planning speed from the initial pose, the initial centroid position, and the target puncture position comprises:
carrying out discrete value taking in a preset speed parameter interval, and respectively calculating corresponding puncture termination time according to each obtained speed parameter discrete value, the initial pose, the initial centroid position and the target puncture position;
finding out a speed discrete value corresponding to the mass center motion model when the puncture termination time is used as a variable and the target puncture position is used as a target value;
and calculating the puncture planning speed according to the searched speed parameter discrete value and the puncture termination time.
2. The method of claim 1, wherein the velocity parameter comprises a puncture acceleration and/or a puncture velocity.
3. The method of claim 1, wherein the step of calculating the corresponding puncture termination time according to the obtained discrete values of the velocity parameters and the initial pose, the initial centroid position and the target puncture position comprises:
determining initial puncture time according to the initial centroid position and the centroid motion model;
calculating a first puncture time for puncture direction alignment and a second puncture time for puncture linear motion according to the initial pose, the target puncture position and the speed parameter discrete value;
and determining the puncture termination time according to the initial time, the first puncture time and the second puncture time.
4. The method of claim 3, wherein the discrete values of the velocity parameter include discrete values of angular acceleration in a first puncture time and discrete values of linear acceleration in a second puncture time, and the step of calculating the first puncture time for puncture direction alignment and the second puncture time for puncture linear motion from the initial pose, the target puncture position, and the discrete values of the velocity parameter includes:
determining an adjustment pose according to the initial pose and the target puncture position;
calculating a first puncture time according to the angular acceleration discrete value, the initial pose and the adjusted pose;
and calculating second puncture time according to the linear acceleration discrete value, the adjustment pose and the target puncture position.
5. The method of claim 1, wherein prior to the step of obtaining the centroid motion model of the puncturing object and the target puncturing location, the method further comprises:
acquiring the centroid coordinates of the puncture object at each moment within a preset time range;
and fitting a curve of the centroid coordinates changing along with time to obtain the centroid motion model.
6. The method of claim 5, wherein the step of fitting the curve of the centroid coordinates over time to obtain the centroid motion model comprises:
fitting the centroid coordinates of each coordinate dimension by adopting a least square method to obtain a time variation curve of each coordinate dimension;
and determining the centroid motion model based on the time change curve of each coordinate dimension.
7. A puncture speed planning apparatus, comprising:
the data acquisition module is used for acquiring a mass center motion model of the puncture object and a target puncture position;
the pose detection module is used for detecting an initial pose of the tail end of the puncture device and an initial mass center position of a mass center of the puncture object;
the speed planning module is used for determining a puncture planning speed according to the initial pose, the initial centroid position and the target puncture position on the condition that the centroid position corresponding to the initial puncture time is the initial centroid position and the centroid position corresponding to the puncture termination time is the target puncture position based on the centroid motion model;
the step of determining a puncture planning speed from the initial pose, the initial centroid position, and the target puncture position comprises:
carrying out discrete value taking in a preset speed parameter interval, and respectively calculating corresponding puncture termination time according to each obtained speed parameter discrete value, the initial pose, the initial centroid position and the target puncture position;
finding out a speed discrete value corresponding to the mass center motion model when the puncture termination time is used as a variable and the target puncture position is used as a target value;
and calculating the puncture planning speed according to the searched speed parameter discrete value and the puncture termination time.
8. A lancing apparatus comprising a lancing device, a robotic arm, a memory, a processor and a computer program stored on the memory and executable on the processor; wherein the puncture device is arranged at the tail end of the mechanical arm; the processor is in communication with the robotic arm, the processor being configured to control the robotic arm to move to drive the lancing device to lance, the processor being further configured to implement the lancing speed planning method according to any one of claims 1 to 6 when executing the program.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method for puncture speed planning according to any one of claims 1 to 6.
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| CN112168352B (en) * | 2020-09-25 | 2021-08-17 | 武汉联影智融医疗科技有限公司 | Surgical robot control method, computer equipment and surgical robot system |
| CN113608441A (en) * | 2021-08-05 | 2021-11-05 | 南京佗道医疗科技有限公司 | Position forward-looking self-adaptive puncture control method |
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