CN111973212B - Parameter calibration method and parameter calibration device - Google Patents
Parameter calibration method and parameter calibration device Download PDFInfo
- Publication number
- CN111973212B CN111973212B CN202010839666.1A CN202010839666A CN111973212B CN 111973212 B CN111973212 B CN 111973212B CN 202010839666 A CN202010839666 A CN 202010839666A CN 111973212 B CN111973212 B CN 111973212B
- Authority
- CN
- China
- Prior art keywords
- ith
- dimensional
- mechanical arm
- ray image
- metal balls
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 47
- 239000002184 metal Substances 0.000 claims abstract description 83
- 239000011159 matrix material Substances 0.000 claims abstract description 47
- 230000009466 transformation Effects 0.000 claims abstract description 31
- 238000004422 calculation algorithm Methods 0.000 claims description 13
- 238000010586 diagram Methods 0.000 description 17
- 229910000831 Steel Inorganic materials 0.000 description 7
- 239000010959 steel Substances 0.000 description 7
- 239000013598 vector Substances 0.000 description 4
- 238000007408 cone-beam computed tomography Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
- A61B6/03—Computed tomography [CT]
- A61B6/032—Transmission computed tomography [CT]
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/54—Control of apparatus or devices for radiation diagnosis
- A61B6/545—Control of apparatus or devices for radiation diagnosis involving automatic set-up of acquisition parameters
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/54—Control of apparatus or devices for radiation diagnosis
- A61B6/547—Control of apparatus or devices for radiation diagnosis involving tracking of position of the device or parts of the device
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Radiology & Medical Imaging (AREA)
- Molecular Biology (AREA)
- Biophysics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Physics & Mathematics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- High Energy & Nuclear Physics (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Pulmonology (AREA)
- Theoretical Computer Science (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
The disclosure relates to a parameter calibration method, comprising: controlling the image acquisition equipment to shoot at the ith pose to obtain an X-ray image, and controlling the mechanical arm to move so that the X-ray image shot by the image acquisition equipment contains at least a preset number of metal balls in a plurality of metal balls; recording the ith posture information of the mechanical arm; determining the two-dimensional coordinates of the metal ball in the X-ray image and the ith transformation matrix of the three-dimensional coordinates of the metal ball in the coordinate system of the tail end of the mechanical arm; and determining the geometric position relation of the world coordinate system and the coordinate system of the X-ray image according to the ith transformation matrix and the ith posture information. According to the method and the device, the process of determining the geometric position relation between the world coordinate system and the coordinate system of the X-ray image is relatively simple without using a specific die body, and the posture information of the mechanical arm is relatively accurate and easy to determine, so that a result with higher precision can be obtained through the relatively simple process.
Description
Technical Field
The present disclosure relates to the field of medical technology, and in particular, to a parameter calibration method, a parameter calibration apparatus, an electronic device, and a computer-readable storage medium.
Background
CBCT (Cone Beam Computed tomography), which acquires a plurality of perspective images within a range of 360 degrees around an object to be imaged and then obtains a three-dimensional CT image using a reconstruction algorithm. That is, before the three-dimensional CT image reconstruction, geometric parameters of different perspective angles need to be obtained, so as to obtain the geometric position relationship between the calculated world coordinate system and each image.
In the algorithm in the related art, a die body shown in fig. 1 is utilized, the die body is of a cylindrical structure, two layers of steel balls are uniformly distributed on the cylinder, the die body is placed at the imaging center of a CBCT for 360-degree full sector scanning, then the steel balls are identified in each perspective image, an ellipse is fitted, and the geometric position relationship is calculated.
Because the steel balls which are circularly arranged are arranged in an ellipse in the perspective image, the accuracy of ellipse fitting is influenced when the number of the steel balls is too small, and the steel balls are overlapped in the perspective image to cause that the steel balls cannot be identified. And the method utilizes the ellipse parameters to calculate the transformation relation, belongs to an indirect mode, and has relatively complex calculation and relatively low precision.
Disclosure of Invention
The present disclosure provides a parameter calibration method, a parameter calibration apparatus, an electronic device, and a computer-readable storage medium to solve the disadvantages of the related art.
According to a first aspect of the embodiments of the present disclosure, a parameter calibration method is provided, which is suitable for a parameter calibration system, where the parameter calibration system includes a mechanical arm with six or more degrees of freedom and a registration plate, the registration plate is fixed to a tail end of the mechanical arm, and a plurality of metal balls are fixedly disposed on the registration plate, the method includes:
step S101, controlling an image acquisition device to shoot at the ith pose to obtain an ith X-ray image, and controlling the mechanical arm to move so that the X-ray image shot by the image acquisition device contains at least a preset number of metal balls in the plurality of metal balls;
step S102, recording the ith posture information of the mechanical arm when the image acquisition equipment shoots an X-ray image;
step S103, determining a two-dimensional coordinate of a metal ball in the ith X-ray image and an ith transformation matrix of a three-dimensional coordinate of the metal ball in a coordinate system of the tail end of the mechanical arm;
step S104, determining the ith geometric position relation between a world coordinate system and a coordinate system where the ith X-ray image is located according to the ith transformation matrix and the ith attitude information;
and S105, executing the steps S101 to S104 n times to obtain n geometric position relations, wherein i is more than or equal to 1 and less than or equal to n.
Optionally, the number of the plurality of metal balls is greater than or equal to 4, and at least one of the plurality of metal balls is not coplanar with other metal balls.
Optionally, determining the two-dimensional coordinates of the metal ball in the ith X-ray image, and determining the ith transformation matrix of the three-dimensional coordinates of the metal ball in the coordinate system of the robot arm tip includes:
registering the two-dimensional coordinates and the three-dimensional coordinates through a two-dimensional and three-dimensional registration algorithm;
and determining an ith transformation matrix of the two-dimensional coordinates relative to the three-dimensional coordinates according to the registration result.
Optionally, the image acquisition device is a C-arm machine.
Optionally, the method further comprises:
and performing three-dimensional CT reconstruction according to the n geometric position relations.
According to a second aspect of the embodiments of the present disclosure, a parameter calibration apparatus is provided, which is suitable for a parameter calibration system, the parameter calibration system includes a mechanical arm with six degrees of freedom or more and a registration plate, the registration plate is fixed to a tail end of the mechanical arm, a plurality of metal balls are fixedly disposed on the registration plate, the apparatus includes:
the first control module is used for controlling the image acquisition equipment to shoot at the ith pose so as to obtain the ith X-ray image;
the second control module is used for controlling the mechanical arm to move so that the X-ray image shot by the image acquisition equipment contains at least a preset number of metal balls in the plurality of metal balls;
the gesture recording module is used for recording the ith gesture information of the mechanical arm when the image acquisition equipment shoots an X-ray image;
the matrix determination module is used for determining a two-dimensional coordinate of the metal ball in the ith X-ray image and an ith transformation matrix of a three-dimensional coordinate of the metal ball in a coordinate system of the tail end of the mechanical arm;
the relation determining module is used for determining the ith geometric position relation between a world coordinate system and a coordinate system where the ith X-ray image is located according to the ith transformation matrix and the ith posture information;
and the third control module is used for controlling the first control module, the second control module, the attitude recording module and the matrix determining module to execute respective operations for n times so as to obtain n geometric position relations, wherein i is more than or equal to 1 and less than or equal to n.
Optionally, the number of the plurality of metal balls is greater than or equal to 4, and at least one of the plurality of metal balls is not coplanar with other metal balls.
Optionally, the matrix determination module comprises:
the registration submodule is used for registering the two-dimensional coordinates and the three-dimensional coordinates through a two-dimensional and three-dimensional registration algorithm;
and the determining submodule is used for determining an ith transformation matrix of the two-dimensional coordinates relative to the three-dimensional coordinates according to the registration result.
Optionally, the image acquisition device is a C-arm machine.
Optionally, the apparatus further comprises:
and the three-dimensional reconstruction module is used for carrying out three-dimensional CT reconstruction according to the n geometric position relations.
According to a third aspect of the embodiments of the present disclosure, a parameter calibration system is provided, which includes a robot arm with six degrees of freedom or more, a registration plate, a processor, and a memory for storing processor executable instructions, wherein the registration plate is fixed to a distal end of the robot arm, and a plurality of metal balls are fixedly disposed on the registration plate;
wherein the processor is configured to execute instructions to implement the method of any of the above embodiments.
According to a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, on which computer instructions are stored, and the instructions, when executed by a processor, implement the steps in the method according to any of the embodiments.
According to the embodiment of the disclosure, the process of determining the geometric position relation between the world coordinate system and the coordinate system where the X-ray image is located does not need to utilize a specific die body, the process is relatively simple, and the posture information of the mechanical arm is relatively accurate and easy to determine, so that a result with higher precision can be obtained through the relatively simple process.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a schematic view of a mold body in the related art.
Fig. 2 is a schematic flow chart diagram illustrating a parameter calibration method according to an embodiment of the present disclosure.
Fig. 3 is a schematic block diagram illustrating a parameter calibration system according to an embodiment of the present disclosure.
FIG. 4 is a schematic flow chart diagram illustrating another method of parameter calibration in accordance with an embodiment of the present disclosure.
Fig. 5 is a schematic flow chart diagram illustrating yet another parameter calibration method in accordance with an embodiment of the present disclosure.
Fig. 6 is a schematic block diagram illustrating a parameter calibration apparatus according to an embodiment of the present disclosure.
Fig. 7 is a schematic block diagram illustrating a matrix determination module in accordance with an embodiment of the present disclosure.
FIG. 8 is a schematic block diagram illustrating another parameter calibration apparatus in accordance with an embodiment of the present disclosure.
Fig. 9 is a schematic block diagram illustrating an electronic device in accordance with an embodiment of the present disclosure.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Fig. 2 is a schematic flow chart diagram illustrating a parameter calibration method according to an embodiment of the present disclosure. Fig. 3 is a schematic block diagram illustrating a parameter calibration system according to an embodiment of the present disclosure.
The method shown in this embodiment can be applied to a parameter calibration system, which includes a mechanical arm with six or more degrees of freedom and a registration plate, where the registration plate is fixed to the end of the mechanical arm, and multiple metal balls (e.g., steel balls) are fixedly arranged on the registration plate, and the mechanical arm can cooperate with an image acquisition device.
The image capturing device may be a device capable of capturing X-ray images, such as a C-arm machine shown in fig. 3. The end of the robotic arm may be a flange to which the registration plate may be fixedly mounted.
As shown in fig. 2, the method may include the steps of:
step S101, controlling an image acquisition device to shoot at the ith pose to obtain an ith X-ray image, and controlling the mechanical arm to move so that the X-ray image shot by the image acquisition device contains at least a preset number of metal balls in the plurality of metal balls;
step S102, recording the ith posture information of the mechanical arm when the image acquisition equipment shoots an X-ray image;
step S103, determining a two-dimensional coordinate of a metal ball in the ith X-ray image and an ith transformation matrix of a three-dimensional coordinate of the metal ball in a coordinate system of the tail end of the mechanical arm;
step S104, determining the ith geometric position relation between a world coordinate system and a coordinate system where the ith X-ray image is located according to the ith transformation matrix and the ith attitude information;
and S105, executing the steps S101 to S104 n times to obtain n geometric position relations, wherein i is more than or equal to 1 and less than or equal to n.
In one embodiment, the image capturing device may be controlled to capture the image in the ith posture, and the mechanical arm may be controlled to move, so that at least a preset number of metal balls in the plurality of metal balls are included in the X-ray image captured by the image capturing device.
Specifically, the image acquisition device may be controlled to be in the ith posture, and then the mechanical arm is controlled to move to drive the registration plate to move to the opposite side of the X-ray receiver (which may be a flat panel detector or an image intensifier) of the image acquisition device, so as to control the image acquisition device to shoot.
For example, as shown in fig. 3, the C-arm machine may be controlled to be in a posture where the X-ray receiver is located at the top, and then the mechanical arm is controlled to drive the registration plate to move to the lower side of the X-ray receiver, and then the image acquisition device is controlled to take a picture.
Further, the ith posture information of the mechanical arm when the image acquisition equipment shoots the X-ray image can be recorded.
Since the robot arm has six degrees of freedom, or more, that is, the degree of freedom of the robot arm is 6 or more. Taking a six-degree-of-freedom robot arm as an example, the attitude information of the robot arm may be represented by a six-dimensional vector or a 4 × 4 matrix M2. Taking six-dimensional vector as an example, the pose information may be represented as (x, y, z, rx, ry, rz), where x, y, z are translation vectors of the robot arm tip relative to the coordinate system of the robot arm base, rx, ry, rz are rotation vectors of the robot arm tip relative to the coordinate system of the robot arm base, and the robot arm base is fixed on the ground, so the coordinate system of the robot arm base may be regarded as the world coordinate system.
Further, an ith transformation matrix of two-dimensional coordinates of the metal ball in the ith X-ray image and three-dimensional coordinates of the metal ball in a coordinate system of the tail end of the mechanical arm can be determined.
Since the X-ray image is a two-dimensional image, the position of the metal ball in the X-ray image can be represented by two-dimensional coordinates, and the coordinate system of the two-dimensional coordinates is the coordinate system of the X-ray image.
A three-dimensional coordinate system can be established at the tail end of the mechanical arm, for example, the tail end of the mechanical arm is a flange, the center of the flange can be used as an original point, the surface of the flange is used as an xoy plane, and the direction perpendicular to the plane of the flange is used as a z-axis to construct the three-dimensional coordinate system, wherein the directions of the x-axis and the y-axis can be set as required. Since the registration plate is fixed at the end of the mechanical arm and the metal ball is fixed in the registration plate, the three-dimensional coordinates of the metal ball in the coordinate system of the end of the mechanical arm are fixed.
For the two-dimensional coordinates and the three-dimensional coordinates described above, a transformation matrix between the two can be determined, which is a 4 × 4 matrix M1.
Furthermore, the ith geometric position relation between the world coordinate system and the coordinate system of the ith X-ray image can be determined according to the ith transformation matrix and the ith posture information. For example, by calculating the dot product of the matrix M1 and the matrix M2 as the geometric positional relationship.
However, in order to perform three-dimensional CT reconstruction, a plurality of the geometric position relationships need to be determined, so steps S101 to S104 may be performed n times to obtain n geometric position relationships, so as to perform three-dimensional CT reconstruction based on the n geometric position relationships.
For example, as shown in fig. 3, the C-arm machine may be controlled to be in a posture where the X-ray receiver is located on the right side, then the mechanical arm is controlled to drive the registration plate to move to the left side of the X-ray receiver, and then the image acquisition device is controlled to take a picture. And obtaining the geometric position relation corresponding to the posture according to the steps from S101 to S104. For example, the C-arm machine can be controlled to rotate 360 °, and a shot can be taken every 2 °, so that 180 geometric positional relationships are obtained.
It should be noted that, in each shooting process, the registration plate may be parallel to the X-ray receiver or not, and it is only required to ensure that the X-ray image shot by the image acquisition device includes at least a preset number of metal balls in the plurality of metal balls.
The preset number can be set as required, for example, 4, and the transformation matrix of the two-dimensional coordinates and the three-dimensional coordinates is determined based on a large number of metal balls, which is beneficial to ensuring the accuracy of the obtained transformation matrix. In addition, in order to ensure the photographing effect, the distance from the center of the registration plate to the X-ray receiver during photographing may be set to be short, for example, less than a preset distance, and the preset distance may be set as needed, for example, 10 cm.
According to the embodiment of the disclosure, the process of determining the geometric position relation between the world coordinate system and the coordinate system where the X-ray image is located does not need to utilize a specific die body, the process is relatively simple, and the posture information of the mechanical arm is relatively accurate and easy to determine, so that a result with higher precision can be obtained through the relatively simple process.
Optionally, the number of the plurality of metal balls is greater than or equal to 4, and at least one of the plurality of metal balls is not coplanar with other metal balls.
In one embodiment, since 3 metal balls are necessarily coplanar, in the case of a plurality of metal balls being coplanar, the result of the C-arm camera shooting at 0 ° and 180 ° on the registration plate may be the same in the case of the rotating C-arm camera, for example, the positions of the metal balls in the two obtained X-ray images are completely the same, which makes it difficult to accurately determine the variation matrix.
The number of the metal balls is greater than or equal to 4, and at least one metal ball in the plurality of metal balls is not coplanar with other metal balls, so that the situation that the positions of the metal balls in the two X-ray images are completely the same can be avoided.
FIG. 4 is a schematic flow chart diagram illustrating another method of parameter calibration in accordance with an embodiment of the present disclosure. As shown in fig. 4, determining the two-dimensional coordinates of the metal ball in the ith X-ray image and the ith transformation matrix of the three-dimensional coordinates of the metal ball in the coordinate system of the robot arm tip includes:
step S1031, registering the two-dimensional coordinates and the three-dimensional coordinates through a two-dimensional and three-dimensional registration algorithm;
step S1032, determining an ith transformation matrix of the two-dimensional coordinates relative to the three-dimensional coordinates according to the registration result.
In one embodiment, since the coordinates of the metal ball in the ith X-ray image are two-dimensional coordinates and the coordinates of the metal ball in the coordinate system of the mechanical arm tip are three-dimensional coordinates, in order to register the two coordinates, a two-dimensional three-dimensional registration algorithm may be used.
Note that the two-dimensional coordinates and the three-dimensional coordinates are registered, and the two-dimensional coordinates of all the metal balls in the X-ray image are registered with the three-dimensional coordinates of the metal balls, instead of registering a single two-dimensional coordinate with the three-dimensional coordinates.
The adopted two-dimensional and three-dimensional registration algorithm includes, but is not limited to, the solvePnP algorithm, and the obtained registration result is a transformation matrix from two-dimensional coordinates to three-dimensional coordinates, wherein the transformation matrix can be a 4 × 4 matrix.
Fig. 5 is a schematic flow chart diagram illustrating yet another parameter calibration method in accordance with an embodiment of the present disclosure. As shown in fig. 5, the method further comprises:
and S106, performing three-dimensional CT reconstruction according to the n geometric position relations.
In an embodiment, based on the obtained n geometric position relationships, three-dimensional CT reconstruction may be performed, specifically, the three-dimensional CT reconstruction may be implemented based on a three-dimensional reconstruction algorithm, and specifically, the three-dimensional reconstruction algorithm may be selected as needed.
Corresponding to the embodiment of the parameter calibration method, the present disclosure also provides an embodiment of a parameter calibration device.
Fig. 6 is a schematic block diagram illustrating a parameter calibration apparatus according to an embodiment of the present disclosure.
The method shown in the embodiment can be applied to a parameter calibration system, the parameter calibration system comprises a mechanical arm with six degrees of freedom or more and a registration plate, the registration plate is fixed at the tail end of the mechanical arm, a plurality of metal balls are fixedly arranged on the registration plate, and the mechanical arm can cooperate with image acquisition equipment.
The image capturing device may be a device capable of capturing X-ray images, such as a C-arm machine shown in fig. 3. The end of the robotic arm may be a flange to which the registration plate may be fixedly mounted.
As shown in fig. 6, the apparatus may include:
the first control module 101 is used for controlling the image acquisition equipment to shoot at the ith pose so as to obtain an ith X-ray image;
the second control module 102 is configured to control the mechanical arm to move, so that an X-ray image captured by the image capture device includes at least a preset number of metal balls in the plurality of metal balls;
the posture recording module 103 is used for recording the ith posture information of the mechanical arm when the image acquisition equipment shoots an X-ray image;
a matrix determination module 104, configured to determine an ith transformation matrix of two-dimensional coordinates of the metal ball in the ith X-ray image and three-dimensional coordinates of the metal ball in a coordinate system of the end of the mechanical arm;
a relation determining module 105, configured to determine an ith geometric position relation between a world coordinate system and a coordinate system in which the ith X-ray image is located according to the ith transformation matrix and the ith pose information;
and a third control module 106, configured to control the first control module, the second control module, the posture recording module, and the matrix determination module to perform respective operations n times to obtain n geometric position relationships, where i is greater than or equal to 1 and is less than or equal to n.
Optionally, the number of the plurality of metal balls is greater than or equal to 4, and at least one of the plurality of metal balls is not coplanar with other metal balls.
Fig. 7 is a schematic block diagram illustrating a matrix determination module in accordance with an embodiment of the present disclosure. As shown in fig. 7, the matrix determination module 104 includes:
the registration submodule 1041 is configured to perform registration on the two-dimensional coordinates and the three-dimensional coordinates through a two-dimensional and three-dimensional registration algorithm;
the determining sub-module 1042 is configured to determine, according to the registration result, an ith transformation matrix of the two-dimensional coordinates relative to the three-dimensional coordinates.
Optionally, the image acquisition device is a C-arm machine.
FIG. 8 is a schematic block diagram illustrating another parameter calibration apparatus in accordance with an embodiment of the present disclosure. As shown in fig. 8, the apparatus further includes:
and a three-dimensional reconstruction module 107 for performing three-dimensional CT reconstruction according to the n geometric position relationships.
The embodiment of the disclosure further provides a parameter calibration system, which includes a mechanical arm with six degrees of freedom or more, a registration plate, a processor and a memory for storing executable instructions of the processor, wherein the registration plate is fixed at the tail end of the mechanical arm, and a plurality of metal balls are fixedly arranged on the registration plate;
wherein the processor is configured to execute instructions to implement the method of any of the above embodiments.
Embodiments of the present disclosure also provide a computer-readable storage medium having stored thereon computer instructions, which when executed by a processor, implement the steps of the method according to any of the above embodiments.
Fig. 9 is a schematic block diagram illustrating an electronic device in accordance with an embodiment of the present disclosure. The embodiment of the parameter calibration device can be applied to electronic equipment. The device embodiments may be implemented by software, or by hardware, or by a combination of hardware and software. The software implementation is taken as an example, and is formed by reading corresponding computer program instructions in the nonvolatile memory into the memory for operation through the processor of the device where the software implementation is located as a logical means. From a hardware aspect, as shown in fig. 9, it is a hardware structure diagram of a device in which the parameter calibration apparatus of the present disclosure is located, except for the processor, the network interface, the memory, and the nonvolatile memory shown in fig. 9, the device in which the apparatus is located in the embodiment may also include other hardware, such as a forwarding chip responsible for processing a packet, and the like; the device may also be a distributed device in terms of hardware structure, and may include multiple interface cards to facilitate expansion of message processing at the hardware level.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the disclosed solution. One of ordinary skill in the art can understand and implement it without inventive effort.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (12)
1. A parameter calibration method is characterized in that the method is suitable for a parameter calibration system, the parameter calibration system comprises a mechanical arm with six degrees of freedom and more and a registration plate, the registration plate is fixed at the tail end of the mechanical arm, a plurality of metal balls are fixedly arranged on the registration plate, and the method comprises the following steps:
step S101, controlling an image acquisition device to shoot at the ith pose to obtain an ith X-ray image, and controlling the mechanical arm to move so that the X-ray image shot by the image acquisition device contains at least a preset number of metal balls in the plurality of metal balls;
step S102, recording the ith posture information of the mechanical arm when the image acquisition equipment shoots an X-ray image;
step S103, determining a two-dimensional coordinate of a metal ball in the ith X-ray image and an ith transformation matrix of a three-dimensional coordinate of the metal ball in a coordinate system of the tail end of the mechanical arm;
step S104, determining the ith geometric position relation between a world coordinate system and a coordinate system where the ith X-ray image is located according to the ith transformation matrix and the ith posture information;
and S105, executing the steps S101 to S104 n times to obtain n geometric position relations, wherein i is more than or equal to 1 and less than or equal to n.
2. The method of claim 1, wherein the plurality of metal balls is greater than or equal to 4 in number, and wherein at least one of the plurality of metal balls is not coplanar with the other metal balls.
3. The method of claim 1, wherein determining an ith transformation matrix of two-dimensional coordinates of the metal sphere in the ith X-ray image and three-dimensional coordinates of the metal sphere in a coordinate system of the robotic arm tip comprises:
registering the two-dimensional coordinates and the three-dimensional coordinates through a two-dimensional and three-dimensional registration algorithm;
and determining an ith transformation matrix of the two-dimensional coordinates relative to the three-dimensional coordinates according to the registration result.
4. The method of claim 1, wherein the image capture device is a C-arm machine.
5. The method according to any one of claims 1 to 4, further comprising:
and performing three-dimensional CT reconstruction according to the n geometric position relations.
6. A parameter calibration device is characterized in that the device is suitable for a parameter calibration system, the parameter calibration system comprises a mechanical arm with six degrees of freedom and more and a registration plate, the registration plate is fixed at the tail end of the mechanical arm, a plurality of metal balls are fixedly arranged on the registration plate, and the device comprises:
the first control module is used for controlling the image acquisition equipment to shoot at the ith pose so as to obtain the ith X-ray image;
the second control module is used for controlling the mechanical arm to move so that the X-ray image shot by the image acquisition equipment contains at least a preset number of metal balls in the plurality of metal balls;
the posture recording module is used for recording the ith posture information of the mechanical arm when the image acquisition equipment shoots an X-ray image;
the matrix determination module is used for determining a two-dimensional coordinate of the metal ball in the ith X-ray image and an ith transformation matrix of a three-dimensional coordinate of the metal ball in a coordinate system of the tail end of the mechanical arm;
the relation determining module is used for determining the ith geometric position relation between a world coordinate system and a coordinate system where the ith X-ray image is located according to the ith transformation matrix and the ith posture information;
and the third control module is used for controlling the first control module, the second control module, the attitude recording module and the matrix determining module to execute respective operations for n times so as to obtain n geometric position relations, wherein i is more than or equal to 1 and less than or equal to n.
7. The apparatus of claim 6, wherein the plurality of metal balls is greater than or equal to 4 in number, and at least one of the plurality of metal balls is not coplanar with the other metal balls.
8. The apparatus of claim 6, wherein the matrix determination module comprises:
the registration sub-module is used for registering the two-dimensional coordinates and the three-dimensional coordinates through a two-dimensional and three-dimensional registration algorithm;
and the determining submodule is used for determining an ith transformation matrix of the two-dimensional coordinates relative to the three-dimensional coordinates according to the registration result.
9. The apparatus of claim 6, wherein the image capture device is a C-arm machine.
10. The apparatus of any one of claims 6 to 9, further comprising:
and the three-dimensional reconstruction module is used for carrying out three-dimensional CT reconstruction according to the n geometric position relations.
11. A parameter calibration system is characterized by comprising a mechanical arm with six degrees of freedom or more and a registration plate, wherein the registration plate is fixed at the tail end of the mechanical arm, a plurality of metal balls are fixedly arranged on the registration plate, and a processor and a memory for storing executable instructions of the processor are arranged on the registration plate;
wherein the processor is configured to execute instructions to implement the method of any one of claims 1 to 5.
12. A computer-readable storage medium having stored thereon computer instructions, which when executed by a processor, perform the steps of the method of any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010839666.1A CN111973212B (en) | 2020-08-19 | 2020-08-19 | Parameter calibration method and parameter calibration device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010839666.1A CN111973212B (en) | 2020-08-19 | 2020-08-19 | Parameter calibration method and parameter calibration device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111973212A CN111973212A (en) | 2020-11-24 |
| CN111973212B true CN111973212B (en) | 2022-05-17 |
Family
ID=73435124
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010839666.1A Active CN111973212B (en) | 2020-08-19 | 2020-08-19 | Parameter calibration method and parameter calibration device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111973212B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112419381B (en) * | 2020-12-15 | 2023-03-03 | 山东威高医疗科技有限公司 | Automatic identification method for marker point sequence in X-ray image |
| CN114511641A (en) * | 2021-01-30 | 2022-05-17 | 威海威高骨科手术机器人有限公司 | Two-dimensional calibration processing method for X-ray data with position information |
| CN113487626B (en) * | 2021-07-01 | 2024-03-15 | 杭州三坛医疗科技有限公司 | Mirror image identification method and device, electronic equipment and storage medium |
| CN113907830B (en) * | 2021-10-13 | 2023-07-18 | 杭州柳叶刀机器人有限公司 | Polishing control method and device, electronic equipment and storage medium |
| CN113855288B (en) * | 2021-11-01 | 2023-05-05 | 杭州柳叶刀机器人有限公司 | Image generation method, device, electronic equipment and storage medium |
| CN115868999A (en) * | 2023-02-01 | 2023-03-31 | 苏州一目万相科技有限公司 | Positioning method, positioning device and readable storage medium of ray imaging system |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5963612A (en) * | 1997-12-31 | 1999-10-05 | Siemens Corporation Research, Inc. | Apparatus for C-arm calibration for 3D reconstruction in an imaging system utilizing planar transformation |
| US20080228065A1 (en) * | 2007-03-13 | 2008-09-18 | Viswanathan Raju R | System and Method for Registration of Localization and Imaging Systems for Navigational Control of Medical Devices |
| KR101239294B1 (en) * | 2011-05-23 | 2013-03-05 | 한양대학교 산학협력단 | Apparatus and method for registering images at coordinate space |
| CN107657653A (en) * | 2016-07-25 | 2018-02-02 | 同方威视技术股份有限公司 | For the methods, devices and systems rebuild to the image of three-dimensional surface |
| CN110193849B (en) * | 2018-02-27 | 2021-06-29 | 北京猎户星空科技有限公司 | Method and device for calibrating hands and eyes of robot |
| KR102082272B1 (en) * | 2018-04-25 | 2020-02-27 | 재단법인대구경북과학기술원 | Calibration method of x-ray apparatus and calibration apparatus for the same |
| CN109620274B (en) * | 2018-12-12 | 2021-05-14 | 上海联影医疗科技股份有限公司 | Mechanical arm navigation method and system of C-arm machine and computer readable storage medium |
| CN110169823A (en) * | 2019-04-24 | 2019-08-27 | 艾瑞迈迪科技石家庄有限公司 | Ultrasonic probe scaling method, device, terminal and storage medium |
-
2020
- 2020-08-19 CN CN202010839666.1A patent/CN111973212B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111973212A (en) | 2020-11-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111973212B (en) | Parameter calibration method and parameter calibration device | |
| CN110353774B (en) | Auxiliary puncture robot, control method thereof, computer device, and storage medium | |
| JP4914039B2 (en) | Information processing method and apparatus | |
| JP6131606B2 (en) | Radiation imaging apparatus and image processing method therefor | |
| US20170035374A1 (en) | Interventional x-ray system with automatic iso-centering | |
| CN112754616B (en) | Ultrasonic positioning puncture system and storage medium | |
| CN109620274B (en) | Mechanical arm navigation method and system of C-arm machine and computer readable storage medium | |
| WO2020129034A1 (en) | Robotic surgery systems and surgical guidance methods thereof | |
| JP2008216089A (en) | Instrument for measuring three-dimensional position and direction of specimen | |
| CN114147728A (en) | Universal robot eye on-hand calibration method and system | |
| CN110301924A (en) | Handle the method, device and equipment of image | |
| JP2005241323A (en) | Imaging system and calibration method | |
| CN114404041B (en) | C-arm imaging parameter calibration system and method | |
| CN115868999A (en) | Positioning method, positioning device and readable storage medium of ray imaging system | |
| JP2013047644A (en) | Radiographing apparatus and tomographic image correction method | |
| CN113963057B (en) | Imaging geometric relation calibration method and device, electronic equipment and storage medium | |
| CN117392230A (en) | CBCT rotation radius measuring method, device, equipment and storage medium | |
| WO2022116114A1 (en) | Monitoring method and apparatus, and computer storage medium | |
| CN112075957B (en) | Mammary gland circular scanning track planning method and device and computer readable storage medium | |
| KR102577964B1 (en) | Alignment system for liver surgery | |
| CN112790786A (en) | Point cloud data registration method and device, ultrasonic equipment and storage medium | |
| CN112132903A (en) | Coordinate system calibration method and system for vision system and multi-axis motion system | |
| JP6974030B2 (en) | Registration markers, registration marker utilization programs, and how to operate the robot system | |
| CN112184569A (en) | Image restoration method and image restoration device | |
| CN115778545B (en) | Ablation positioning method and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |