CN113288358B - Pose information determination method and device, electronic equipment and storage medium - Google Patents
Pose information determination method and device, electronic equipment and storage medium Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 46
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- 238000004364 calculation method Methods 0.000 description 3
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- 210000003734 kidney Anatomy 0.000 description 1
- 210000004185 liver Anatomy 0.000 description 1
- 238000009593 lumbar puncture Methods 0.000 description 1
- 210000004072 lung Anatomy 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
- A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
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Abstract
The embodiment of the invention discloses a method and a device for determining pose information, electronic equipment and a storage medium method, wherein the method comprises the following steps: acquiring initial fixed pose information of the puncture needle, determining a central shaft of a tail end rotating part of the adjacent puncture needle, which is vertical to the bottom surface of the tail end rotating part, and the initial fixed pose information, and determining an initial plane; the initial fixed pose information comprises contact position information of a contact point of the puncture needle and a focus, a puncture needle straight line to which the puncture needle belongs and angle information of the puncture needle straight line under a base coordinate system; determining initial intersection line information of an initial plane and a horizontal plane, and determining initial rotation pose information of the tail end rotating part according to the initial intersection line information and target preset straight line information; the initial rotation pose information is determined under a tool coordinate system; and determining the target pose information of each rotating part according to the initial fixed pose information and the initial rotating pose information so as to improve the efficiency and accuracy of puncture.
Description
Technical Field
The embodiment of the invention relates to the technical field of mechanical arm control, in particular to a pose information determining method and device, electronic equipment and a storage medium.
Background
The puncture operation mainly comprises the steps of puncturing the local part through a fine needle, extracting effusion in a body cavity and the like. Puncture such as abdominal cavity puncture, thorax puncture, marrow puncture, lumbar puncture and the like is commonly used nowadays. The wound of the puncture operation is small, and the recovery of the patient is easy.
The mechanical arm of the puncture device can be manually adjusted by a doctor, so that the flexibility is higher, and the doctor is required to adjust each joint of the mechanical arm of the puncture device before puncture operation is carried out, so that the puncture needle is positioned in a focus area. In addition, in the operation process, if the vision of a doctor is shielded by each joint of the mechanical arm, the doctor is required to adjust the mechanical arm, the work of the doctor is prevented from being influenced, and the operation complexity is increased. The position of the puncture needle inserted into the body cavity can be determined by a doctor, the pose of each joint of the mechanical arm is controlled by the computer, and the operation of the doctor is facilitated. Therefore, a method for determining pose information of a mechanical arm of a puncture device is needed, wherein the pose of the mechanical arm is adjusted and determined before a puncture operation, so that the interference of the work of a doctor in the operation process is avoided, and the efficiency of the puncture operation is further influenced.
Disclosure of Invention
The embodiment of the invention provides a pose information determining method and device, electronic equipment and a storage medium, which are used for determining the pose of a puncture device in the operation process, so that the puncture efficiency and accuracy are improved.
In a first aspect, the embodiment of the invention provides a pose information determining method, which is applied to a puncture device, wherein the puncture device comprises a mechanical arm, a base and a puncture needle, one end of the mechanical arm is arranged on the base, and the other end of the mechanical arm is connected with the puncture needle; the robotic arm comprises at least two rotational components, the method comprising:
acquiring initial fixed pose information of the puncture needle, determining a central shaft of a tail end rotating part adjacent to the puncture needle and perpendicular to the bottom surface of the tail end rotating part and the initial fixed pose information, and determining an initial plane; the initial fixed pose information comprises contact position information of a contact point of the puncture needle and a focus, a puncture needle straight line to which the puncture needle belongs, and angle information of the puncture needle straight line in a base coordinate system;
determining initial intersection line information of the initial plane and a horizontal plane, and determining initial rotation pose information of the tail end rotating component according to the initial intersection line information and target preset straight line information; the initial rotation pose information is determined under the tool coordinate system;
and determining the target pose information of each rotating component according to the initial fixed pose information and the initial rotating pose information.
In a second aspect, an embodiment of the present invention further provides a pose information determining apparatus, which is configured in a puncture device, where the puncture device includes a mechanical arm, a base, and a puncture needle, one end of the mechanical arm is disposed on the base, and the other end of the mechanical arm is connected to the puncture needle; the robot arm comprises at least two rotating parts, the apparatus comprising:
the initial plane determining module is used for acquiring initial fixed pose information of the puncture needle, determining a central shaft of a tail end rotating part adjacent to the puncture needle and vertical to the bottom surface of the tail end rotating part and the initial fixed pose information, and determining an initial plane; the initial fixed pose information comprises contact position information of a contact point of the puncture needle and a focus, a puncture needle straight line to which the puncture needle belongs and angle information of the puncture needle straight line under a base coordinate system;
the initial rotation pose information determining module is used for determining initial intersection line information of the initial plane and a horizontal plane and determining initial rotation pose information of the tail end rotating component according to the initial intersection line information and target preset straight line information; the initial rotation pose information is determined under the tool coordinate system;
and the target pose information determining module is used for determining the target pose information of each rotating part according to the initial fixed pose information and the initial rotating pose information.
In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement a method of pose information determination as in any of the embodiments of the invention.
In a fourth aspect, embodiments of the present invention further provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform the method for pose information determination according to any one of the embodiments of the present invention.
According to the technical scheme of the embodiment of the invention, the initial fixed pose information of the puncture needle is obtained, the central axis of the tail end rotating part of the adjacent puncture needle, which is vertical to the bottom surface of the tail end rotating part, and the initial fixed pose information are determined, the initial plane is determined, the initial intersection line information of the initial plane and the horizontal plane is determined, and the initial rotation pose information of the tail end rotating part is determined according to the initial intersection line information and the target preset straight line information. And determining the target pose information of each rotating component according to the initial fixed pose information and the initial rotating pose information. Through the technical scheme of the embodiment of the invention, the control of the rotation poses of all the rotating parts in the mechanical arm of the puncturing equipment is realized, and the accuracy of determining the rotation poses of all the rotating parts is improved, so that the accuracy and the efficiency of puncturing are improved.
Drawings
In order to more clearly illustrate the technical solution of the exemplary embodiment of the present invention, a brief introduction will be made to the drawings required for describing the embodiment. It should be clear that the described figures are only views of some of the embodiments of the invention to be described, not all, and that for a person skilled in the art, other figures can be derived from these figures without inventive effort.
Fig. 1 is a schematic structural view of a puncture apparatus according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a pose information determination method according to a first embodiment of the present invention;
fig. 3 is a schematic flowchart of a pose information determination method in a second embodiment of the present invention;
FIG. 4 is a schematic view of a rotating end rotary component according to a third embodiment of the present invention;
FIG. 5 is a schematic flow chart illustrating the rotation of an end rotating component according to a third embodiment of the present invention;
fig. 6 is a schematic structural diagram of a pose information determination apparatus according to a fourth embodiment of the present invention;
fig. 7 is a schematic structural diagram of an electronic device in a fifth embodiment of the present invention.
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 structures related to the present invention are shown in the drawings, not all of them.
Example one
Fig. 2 is a schematic flow chart of a pose information determination method according to an embodiment of the present invention, where the embodiment is applicable to a lancing apparatus, and the method may be executed by a pose information determination apparatus, and the apparatus may be implemented in software and/or hardware.
Before explaining the technical solution of the embodiment of the present invention, a brief description is first given of a lancing apparatus configured in the embodiment of the present invention:
the pose information determining method is applied to puncture equipment, and the puncture equipment refers to equipment used for kidney, liver and lung in minimally invasive surgery. The puncture device comprises a mechanical arm 120, a base 110 and a puncture needle 130, wherein one end of the mechanical arm 120 is arranged on the base 110, and the other end (a tail end rotating part 140) is connected with the puncture needle 130; the robotic arm includes at least two rotational components. An embodiment of the present invention employs a six-turn robotic arm, see FIG. 1.
As shown in fig. 2, the pose information determining method according to the embodiment of the present invention specifically includes the following steps:
s101, obtaining initial fixed pose information of the puncture needle, determining a central shaft, which is close to a tail end rotating component of the puncture needle and is vertical to the bottom surface of the tail end rotating component, and the initial fixed pose information, and determining an initial plane.
The pose information determining method is applied to control of the rotation pose of the mechanical arm 140 of the puncture device, can determine the pose information of each rotating component of the mechanical arm 140, and avoids the situation that the pose state of the mechanical arm 140 in the space interferes with treatment of a focus by a doctor in the operation process, so that the puncture efficiency and accuracy are influenced. The initial fixed pose information refers to pose information of the puncture needle 130, and includes position information and pose information, specifically including contact position information of a contact point between the puncture needle 130 and a lesion, a puncture needle straight line to which the puncture needle 130 belongs, and pose information (which may be angle information) of the puncture needle straight line in a base coordinate system. The initial fixed pose information may be the content of the corresponding edit control on the acquisition display interface to determine the initial fixed pose information of the puncture needle 130. Of course, a position sensor may be disposed on the puncture needle 130, and when the puncture needle 130 contacts with the lesion, the position sensor transmits the position of the puncture needle 130 to the computer in real time to obtain the initial position information of the puncture needle 130. The rotation member connected to the puncture needle 130 is determined as the tip rotation member 140.
Specifically, initial fixed attitude information of the puncture needle 130 and the central axis of the tip rotating member 140 of the neighboring puncture needle 130 perpendicular to the bottom surface of the tip rotating member are acquired, and an initial plane is determined based on the initial fixed attitude information and the central axis. The position information and the angle information of the puncture straight line to which the puncture needle 130 belongs are determined by the initial fixed pose information, and then the initial plane is determined by the puncture needle straight line and the central axis. And determining the initial plane to prepare for subsequent determination of initial intersection line information.
In an embodiment of the present invention, the determining the central axis of the tip rotating member adjacent to the puncture needle and perpendicular to the bottom surface of the tip rotating member and the initial fixing posture information, the determining the initial plane, includes: determining a central shaft of a tail end rotating part adjacent to the puncture needle and vertical to the bottom surface of the tail end rotating part and a puncture needle straight line to which the puncture needle belongs; and determining the initial plane based on the straight line of the central shaft and the puncture needle.
In the puncture device, the puncture needle line is parallel to the central axis of the tip rotating member 140 perpendicular to the bottom surface of the tip rotating member.
Specifically, the central axis of the tip rotating member 140 of the neighboring puncture needle 130 perpendicular to the bottom surface of the tip rotating member and the puncture needle line to which the puncture needle 130 belongs are determined, and a plane can be uniquely determined by the central axis perpendicular to the bottom surface of the tip rotating member and the puncture needle line, that is, the initial plane.
S102, determining initial intersection line information of the initial plane and a horizontal plane, and determining initial rotation pose information of the tail end rotating component according to the initial intersection line information and target preset straight line information.
The initial rotation pose information is information determined under the tool coordinate system and comprises initial rotation position information and initial rotation pose information. The target preset straight line information includes any one piece of straight line information on a horizontal plane. The initial intersection line information includes initial intersection line equation information, position information, angle information, and the like.
Specifically, the initial intersection line information of the initial plane and the horizontal plane can be determined by determining an initial plane equation and a horizontal plane equation, then determining an intersection line equation based on the initial plane equation and the horizontal plane equation, and determining the initial intersection line information through the intersection line equation. Initial rotation attitude information of the end rotating member 140 is determined based on the initial intersection line information and the target preset straight line information. Optionally, the intersection point is determined based on the initial intersection line equation information in the initial intersection line information and the equation information of the target preset straight line, and then the initial rotation pose information (including the information of the included angle between the initial intersection line and the target preset straight line) is determined.
In the embodiment of the present invention, the determination manner of the target preset straight line may be determined according to a coordinate axis parallel to the horizontal plane, and optionally, the target preset straight line is determined; the determining the target preset straight line includes: acquiring a base coordinate system established in advance based on the central point of the base, and taking a coordinate axis parallel to a horizontal plane in the base coordinate system as the preset straight line; and determining a target preset straight line according to the current position information of the diagnosis user and the position information of the focus part of the visiting user.
Wherein the base is the base 110 of the lancing apparatus. The coordinate axes parallel to the horizontal plane under the base coordinate system include two perpendicular straight lines. The diagnosis user refers to a doctor who performs an operation on a lesion. The visiting user refers to a patient. The current position information of the diagnosing user may refer to position information of the diagnosing user under the base coordinate system, and the position information of the lesion site of the visiting user at this time may be position information relative to the current position information of the visiting user. The position information of the lesion site may be position information under a base coordinate system. The current position information of the diagnosis user at this time may be relative position information to position information of the lesion site. Of course, the position information of both may be the position information under the base coordinate system.
Specifically, coordinate axes parallel to the horizontal plane in the base coordinate system are obtained as preset straight lines, it should be noted that the preset straight lines include two coordinate axes (usually marked as an X axis and a Y axis) perpendicular to each other, and the target preset straight lines are determined according to the current position information of the doctor and the position information of the focus part, that is, the target preset straight lines are determined to be the X axis or the Y axis.
In an embodiment of the present invention, the determining initial rotation pose information of the end rotating component according to the initial intersection line information and the target preset straight line information includes: and when the included angle between the initial intersection line information and the target preset straight line information reaches a preset angle, determining the initial rotation pose information of the tail end rotating part.
The preset angle refers to a preset angle, and in the embodiment of the invention, the preset angle is set to be 0 degree.
Specifically, when the angle between the initial intersection line information and the target preset straight line information is determined to be 0 degree, the initial rotation pose information of the end rotating part 140 is determined.
S103, determining target pose information of each rotating component according to the initial fixed pose information and the initial rotating pose information.
Specifically, the initial fixed pose information of the puncture needle 130 is determined, and the initial rotation pose information of the end rotating member 140 is determined, and since the movement of the end rotating member 140 drives the movement of other rotating members, after the initial fixed pose information of the puncture needle 130 and the initial rotation pose information of the end rotating member 140 are determined, the target pose information of each rotating member can be determined according to the two pose information, so as to determine the pose information of the entire puncture apparatus.
According to the technical scheme of the embodiment of the invention, the initial fixed pose information of the puncture needle is obtained, the central axis of the tail end rotating part of the adjacent puncture needle, which is vertical to the bottom surface of the tail end rotating part, and the initial fixed pose information are determined, the initial plane is determined, the initial intersection line information of the initial plane and the horizontal plane is determined, and the initial rotation pose information of the tail end rotating part is determined according to the initial intersection line information and the target preset straight line information. And determining the target pose information of each rotating component according to the initial fixed pose information and the initial rotating pose information. Through the technical scheme of the embodiment of the invention, the control on the rotation position of each rotating part in the mechanical arm of the puncturing equipment is realized, and the accuracy of the determination of the rotation position information of each rotating part is improved, so that the puncturing efficiency and the accuracy are improved.
Example two
Fig. 3 is a schematic flow chart of a pose information determination method provided in the embodiment of the present invention, and the embodiment of the present invention refines step 103 on the basis of an alternative solution of the above embodiment, and a specific refinement process will be elaborated in the embodiment of the present invention. The technical terms identical or similar to those of the above embodiments will not be described again.
As shown in fig. 3, the pose information determining method provided in the embodiment of the present invention specifically includes the following steps:
s210, obtaining initial fixed pose information of the puncture needle, determining a central shaft of a tail end rotating part adjacent to the puncture needle and perpendicular to the bottom surface of the tail end rotating part and the initial fixed pose information, and determining an initial plane.
S220, determining initial intersection line information of the initial plane and a horizontal plane, and determining initial rotation pose information of the tail end rotating component according to the initial intersection line information and target preset straight line information.
And S230, rotating the tail end rotating component by taking the puncture needle straight line as a rotating shaft.
Specifically, the rotation of the tip rotating member 140 with the puncture needle straight line as the rotation axis includes the rotation with the position information in the initial rotation posture information of the tip rotating member 140 as the start point, and the rotation may be clockwise or counterclockwise.
S240, when the rotating angle of the tail end rotating part reaches a preset rotating angle, determining the pose information of the current mechanical arm to be selected of the mechanical arm; and repeatedly executing and rotating the tail end rotating part and recording the pose information of the mechanical arm to obtain the pose information of a plurality of mechanical arms to be selected.
The pose information of the mechanical arm to be selected comprises pose information of each rotating part to be selected, and the tail end rotating part 140 drives each rotating part on the mechanical arm to rotate when rotating. The preset rotation angle may be set according to actual conditions, and may be set to 5 degrees here.
Specifically, when the rotation angle of the terminal rotation component 140 reaches the preset rotation angle, the pose information of the current mechanical arm to be selected of the mechanical arm 140 is determined, including the pose information to be selected of each rotation component of the current mechanical arm 140. Alternatively, the preset rotation angle may be set to 5 degrees when the end rotating member 140 is rotated by the initial rotation posture information. When the rotation angle reaches the preset rotation angle, the rotation pose information of each rotation part of the current mechanical arm 140 is recorded, so that pose information of a plurality of mechanical arms to be selected is obtained. The terminal rotating component 140 is repeatedly executed to obtain pose information of a plurality of to-be-selected mechanical arms, the pose information with the best mechanical arm motion effect (for example, the minimum angle difference between the actual pose information and the theoretical pose information of the mechanical arm determined by RMS) is found from the pose information of the plurality of to-be-selected mechanical arms, the pose information is determined as the pose information of the target mechanical arm, and the effect of determining the target pose information is improved.
And S250, determining target mechanical arm pose information from the pose information of the mechanical arms to be selected, and determining the target pose information of each rotating component based on the target mechanical arm pose information.
Specifically, the pose information of the target mechanical arm is determined from the pose information of the mechanical arms to be selected, and the rotation pose information of each rotating part in the pose information of the target mechanical arm is determined as the target pose information of the corresponding rotating part. Alternatively, the mode of determining the target robot arm pose information from the plurality of robot arm pose information to be selected may be based on an inverse kinematics rule of the robot arm.
In an embodiment of the present invention, the determining target robot arm pose information from the plurality of robot arm pose information to be selected includes: and determining the pose information of the target mechanical arm from the pose information of the mechanical arms to be selected based on the singular pose information and the rotation angle error of each rotating component.
The singular pose refers to processing pose information of the mechanical arm to be selected according to an inverse kinematics rule of the mechanical arm to obtain pose information with singular points (more than one joint value of the mechanical arm 140). The rotation angle error is an angle difference between actual rotation pose information of the rotating part and theoretical rotation pose information obtained through inverse kinematics calculation of the calculation mechanical arm.
Specifically, the pose information of the target mechanical arm is screened out from the pose information of the mechanical arms to be selected according to the singular pose information and the rotation angle error of each rotating part. The pose information of the mechanical arm to be selected containing the singular pose information causes the mechanical arm 140 to be incapable of rotating, and the risk of 'crash' exists. Therefore, the pose information of the mechanical arm to be selected including the singular pose information can be eliminated from the pose information of the mechanical arms to be selected. For the rotation angle error, which is an angular difference between the actual rotation posture information and the theoretical rotation posture system information of the rotating member, a smaller angle indicates a higher accuracy of the movement of the robot arm 140. The pose information of the target mechanical arm is determined through the singular pose information and the rotation angle error, and the accuracy of determining the pose information of the target mechanical arm can be improved.
In an embodiment of the present invention, the determining target robot arm pose information from a plurality of robot arm pose information to be selected based on singular poses and rotation angle errors of each rotating component includes: eliminating the pose information of the mechanical arm to be selected, which comprises singular pose information, to obtain the pose information of the mechanical arm to be determined; and determining target mechanical arm position and pose information from the mechanical arm position and pose information to be determined based on the rotation angle error.
Specifically, the pose information of the mechanical arm to be selected with singular pose information is excluded according to the inverse kinematics rule of the mechanical arm, and it should be understood that when the rotation pose information of any one rotating part is calculated according to the inverse kinematics rule of the mechanical arm to obtain a singular point, the pose information of the mechanical arm to be selected including the rotation pose information is removed from the pose information of the mechanical arm to be selected to obtain the pose information of the mechanical arm to be determined. The rotation angle error of the pose information of the mechanical arm to be determined is calculated through Root Mean Square (RMS) to obtain an optimal solution, namely, the value obtained through RMS calculation is minimum. And determining the pose information of the mechanical arm to be determined corresponding to the optimal solution as the pose information of the target mechanical arm. Optionally, when only one piece of pose information of the to-be-selected mechanical arm remains after the pose information of the to-be-selected mechanical arm is eliminated through the singular pose, the pose information of the to-be-selected mechanical arm can be directly determined as the pose information of the target mechanical arm.
In the embodiment of the present invention, when the number of rotations of repeatedly performing the rotation of the tip rotating member reaches a preset number of rotations, the performing of the rotation of the tip rotating member is stopped.
Wherein the preset number of rotations is determined based on a preset rotation angle range and the preset rotation angle. The predetermined rotation angle range is a rotation range in which the tip rotating member 140 rotates with the puncture needle straight line as the rotation axis. It should be noted that, in consideration of an application scenario of the puncture device, position information of a diagnosis user, and position information of a lesion site, the preset rotation angle range is set to be 90 degrees in the embodiment of the present invention.
Specifically, the rotation of the tail end rotating part 140 is repeatedly executed, and when the number of times of rotation reaches the preset number of times of rotation, the rotation is stopped, so that the number of repeated to-be-selected robot arm pose information is reduced, the efficiency of acquiring the to-be-selected robot arm pose information is improved, and the efficiency of determining the target robot arm pose information is improved.
According to the technical scheme of the embodiment of the invention, the initial plane is determined by acquiring the initial fixed pose information of the puncture needle, determining the central axis of the tail end rotating part of the adjacent puncture needle, which is vertical to the bottom surface of the tail end rotating part, and the initial fixed pose information. And determining initial intersection line information of the initial plane and the horizontal plane, and determining initial rotation pose information of the tail end rotating part according to the initial intersection line information and the target preset straight line information. The method comprises the steps of rotating a tail end rotating part by taking a puncture needle straight line as a rotating shaft, determining current to-be-selected mechanical arm pose information of a mechanical arm when the rotating angle of the tail end rotating part reaches a preset rotating angle, repeatedly executing the rotation of the tail end rotating part and recording the pose information of the mechanical arm to obtain a plurality of to-be-selected mechanical arm pose information, determining target mechanical arm pose information from the plurality of to-be-selected mechanical arm pose information, and determining the target pose information of each rotating part based on the target mechanical arm pose information. According to the technical scheme of the embodiment of the invention, the rotation of the mechanical arm is realized, the pose information of a plurality of mechanical arms to be selected is obtained, the pose information of the target mechanical arm is determined from the pose information of the plurality of mechanical arms, then the target pose information of each rotating component is determined based on the pose information of the target mechanical arm, and the accuracy of determining the target pose information of the rotating components is improved.
EXAMPLE III
Fig. 4 is a schematic diagram of a rotation process of an end rotating component according to an embodiment of the present invention. Embodiments of the present invention are alternatives to the embodiments described above. For a clearer description of the embodiment of the present invention, a description will be given of a robot arm of a puncture apparatus in the embodiment of the present invention, the robot arm has six rotating members, a distal rotating member is connected to a puncture needle, the rotation process of the distal rotating member is as shown in fig. 4, a central axis perpendicular to a bottom surface of the distal rotating member is determined, a plane a is formed by a puncture straight line to which the puncture needle belongs and the central axis, or a TCP coordinate system is established with a central point of the distal rotating member as an origin, a central axis perpendicular to the bottom surface of the distal rotating member is a Z1 axis, and an X1 axis and a Y1 axis are established on a plane in which the bottom surface of the distal rotating member is located, wherein the X1 axis is perpendicular to the Y1 axis. A base coordinate system, such as X-axis, Y-axis, and Z-axis in fig. 4, is established based on the base 110 of the puncture apparatus, and a plane a is formed by a puncture straight line to which the puncture needle belongs and the Z1 axis of the TCP coordinate system. An initial intersection line exists between the plane a and the XOY plane of the base coordinate system, and when the initial intersection line is parallel to the X axis or the Y axis, the current initial rotation posture information P (0) of the tip rotating member 140 is determined, and then the tip rotating member 140 is rotated (clockwise or counterclockwise) with the puncture needle straight line where the puncture needle is located as the rotation axis. As shown in fig. 5, by setting the rotation angle and the rotation direction of the end rotating part 140, where the rotation angle is set to 5 degrees, the rotation direction is set to clockwise, the rotation angle range is set to 90 degrees (here, the rotation direction may also be set to counterclockwise, the rotation angle is set to 5 degrees, and the rotation angle range is set to 90 degrees, the rotation of the end rotating part 140 is performed), 18 pieces of to-be-selected mechanical arm rotation pose information are sequentially recorded, joint values of the rotating part corresponding to each piece of to-be-selected mechanical arm pose information are obtained through the inverse kinematics rule of the mechanical arm, an angle difference RMS corresponding to each piece of to-be-selected mechanical arm pose information is calculated, and the pieces of information are displayed in a text box for selection by a user, such as table 1:
TABLE 1
| Pose information of mechanical arm to be selected | Number of singular points | RMS value (degree) |
| (-92.65，446.08，243.29，3.14，-0.52，0) | 0 | 3.29 |
| (-40.59，471.75，206.53，3.18，-0.09，0.61) | 2 | 5.51 |
| (75.25，346.53，219.35，2.94，0.16，0.02) | 1 | 3.98 |
| (-94.09，384.77，231.84，2.81，0.57，-0.75) | 0 | 4.72 |
| (122.09，411.57，215.60，2.65，0.45，1.16) | 0 | 2.48 |
According to the technical scheme of the embodiment of the invention, the initial rotation pose information of the tail end rotating component is determined firstly, and then the tail end rotating component is rotated within a preset rotation angle range in a clockwise or anticlockwise direction by taking the puncture needle straight line as an axis. And when the rotation angle reaches a preset rotation angle, recording the pose information to be selected of each rotating part of the mechanical arm so as to obtain the pose information of the mechanical arm to be selected. Therefore, pose information (including pose information to be selected of each rotating part) of a plurality of mechanical arms to be selected can be obtained, whether singular points exist in the pose information of each mechanical arm to be selected is determined through the inverse kinematics rule of the mechanical arm, and if the singular points exist, the number of the singular points is determined. And calculating the angle difference corresponding to the pose information of each mechanical arm to be selected through RMS. Therefore, the pose information of the mechanical arm to be selected including the singular point can be eliminated, the remaining pose information of the mechanical arm to be selected is determined as the pose information of the mechanical arm to be determined, the pose information of the target mechanical arm is determined from the pose information of the mechanical arm to be determined according to the angle difference, and the pose information of the target mechanical arm includes the target pose information of each rotating component. By the technical scheme of the embodiment of the invention, the position and attitude information of each rotating part of the mechanical arm of the puncturing equipment can be controlled, the accuracy of determining the position and attitude information of each rotating part is improved, and the position and attitude information of the mechanical arm in the space can be prevented from interfering the work of a doctor, so that the puncturing efficiency and the puncturing accuracy are improved.
Example four
Fig. 6 is a schematic structural diagram of a pose information determining apparatus according to an embodiment of the present invention, where the pose information determining apparatus according to an embodiment of the present invention is capable of executing a pose information determining method according to any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the executing method. The pose information determining device is configured on a puncture device, the puncture device comprises a mechanical arm, a base and a puncture needle, one end of the mechanical arm is arranged on the base, and the other end of the mechanical arm is connected with the puncture needle; the robot arm comprises at least two rotating parts, and the device comprises: an initial plane determination module 510, an initial rotation pose information determination module 520, and a target pose information determination module 530; wherein:
an initial plane determining module 510, configured to obtain initial fixed pose information of the puncture needle, determine a central axis of a terminal rotation component adjacent to the puncture needle and perpendicular to a bottom surface of the terminal rotation component, and determine initial plane; the initial fixed pose information comprises contact position information of a contact point of the puncture needle and a focus, a puncture needle straight line to which the puncture needle belongs, and angle information of the puncture needle straight line in a base coordinate system; an initial rotation pose information determining module 520, configured to determine initial intersection line information of the initial plane and a horizontal plane, and determine initial rotation pose information of the end rotating component according to the initial intersection line information and target preset straight line information; the initial rotation pose information is determined under the tool coordinate system; and an object pose information determining module 530, configured to determine object pose information of each rotating component according to the initial fixed pose information and the initial rotation pose information.
Further, the initial plane determining module 510 includes:
the central shaft determining submodule is used for determining a central shaft, which is close to the tail end rotating part of the puncture needle and is vertical to the bottom surface of the tail end rotating part, and a puncture needle straight line to which the puncture needle belongs; and the plane determination submodule is used for determining the initial plane based on the central shaft and the puncture needle straight line.
Further, the initial rotation pose information determination module 520 includes:
and the rotation pose determining submodule is used for determining the initial rotation pose information of the tail end rotating part when the included angle between the initial intersection line information and the target preset straight line information reaches a preset angle.
Further, the apparatus further comprises:
the target preset straight line determining module is used for determining the target preset straight line;
the target preset straight line determining module comprises:
the preset straight line determining submodule is used for acquiring a base coordinate system which is established in advance based on the central point of the base, and taking a coordinate axis parallel to a horizontal plane in the base coordinate system as the preset straight line;
and the target preset straight line determining submodule is used for determining a target preset straight line according to the current position information of the diagnosis user and the position information of the focus part of the treatment user.
Further, the target pose information determination module 530 includes:
the rotating submodule is used for rotating the tail end rotating part by taking the puncture needle straight line as a rotating shaft;
the to-be-selected mechanical arm pose information determining submodule is used for determining the current to-be-selected mechanical arm pose information of the mechanical arm when the rotation angle of the tail end rotating part reaches the preset rotation angle; repeatedly rotating the tail end rotating part and recording the pose information of the mechanical arm to obtain pose information of a plurality of mechanical arms to be selected; the position and posture information of the mechanical arm to be selected comprises position and posture information to be selected of all rotating parts, and the rotating parts on the mechanical arm are driven to rotate when the tail end rotating part rotates;
and the target mechanical arm pose information determining submodule is used for determining target mechanical arm pose information from the pose information of the mechanical arms to be selected and determining the target pose information of each rotating part based on the target mechanical arm pose information.
Further, the apparatus further comprises:
and the rotation stopping module is used for stopping executing the rotation of the tail end rotating part when the rotation times of repeatedly executing the rotation of the tail end rotating part reaches the preset rotation times, wherein the preset rotation times are determined based on the preset rotating angle range and the preset rotating angle.
Further, the target manipulator pose information determining submodule includes:
and the target mechanical arm pose information determining unit is used for determining the target mechanical arm pose information from the plurality of mechanical arm pose information to be selected based on the singular pose information and the rotation angle error of each rotating component.
Further, the target robot arm pose information determination unit is further configured to:
eliminating the pose information of the mechanical arm to be selected, which comprises singular pose information, to obtain the pose information of the mechanical arm to be determined; and determining target mechanical arm pose information from the mechanical arm pose information to be determined based on the rotation angle error.
According to the technical scheme of the embodiment of the invention, the initial fixed pose information of the puncture needle is obtained, the central axis of the tail end rotating part of the adjacent puncture needle, which is vertical to the bottom surface of the tail end rotating part, and the initial fixed pose information are determined, the initial plane is determined, the initial intersection line information of the initial plane and the horizontal plane is determined, and the initial rotation pose information of the tail end rotating part is determined according to the initial intersection line information and the target preset straight line information. And determining the target pose information of each rotating part according to the initial fixed pose information and the initial rotating pose information. Through the technical scheme of the embodiment of the invention, the control of the rotation pose of each rotating part in the mechanical arm of the puncturing equipment is realized, and the accuracy of the determination of the rotation pose information of each rotating part is improved, so that the accuracy and the efficiency of puncturing are improved.
It should be noted that, the units and modules included in the apparatus are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; 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 embodiment of the invention.
EXAMPLE five
Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. FIG. 7 illustrates a block diagram of an exemplary electronic device 60 suitable for use in implementing embodiments of the present invention. The electronic device 60 shown in fig. 7 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiment of the present invention.
As shown in fig. 7, the electronic device 60 is in the form of a general purpose computing device. The components of the electronic device 60 may include, but are not limited to: one or more processors or processing units 601, a system memory 602, and a bus 603 that couples various system components (including the system memory 602 and the processing unit 601).
The system memory 602 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 604 and/or cache memory 605. The electronic device 60 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 606 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 7, commonly referred to as a "hard drive"). Although not shown in FIG. 7, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 603 by one or more data media interfaces. Memory 602 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 608 having a set (at least one) of program modules 607 may be stored, for instance, in the memory 602, such program modules 607 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination of which may comprise an implementation of a network environment. The program modules 607 generally perform the functions and/or methods of the described embodiments of the invention.
The electronic device 60 may also communicate with one or more external devices 609 (e.g., keyboard, pointing device, display 610, etc.), one or more devices that enable a user to interact with the electronic device 60, and/or any device (e.g., network card, modem, etc.) that enables the electronic device 60 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 611. Also, the electronic device 60 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) via the network adapter 612. As shown, the network adapter 612 communicates with the other modules of the electronic device 60 via the bus 603. It should be appreciated that although not shown in FIG. 7, other hardware and/or software modules may be used in conjunction with electronic device 60, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 601 executes various functional applications and data processing by running a program stored in the system memory 602, for example, implementing the pose information determination method provided by the embodiment of the present invention.
Example six
The embodiment of the invention also provides a storage medium containing computer executable instructions, wherein the computer executable instructions are used for executing a pose information determination method when being executed by a computer processor, the method is applied to puncture equipment, the puncture equipment comprises a mechanical arm, a base and a puncture needle, one end of the mechanical arm is arranged on the base, and the other end of the mechanical arm is connected with the puncture needle; the robotic arm comprising at least two rotational components, the method comprising:
acquiring initial fixed pose information of the puncture needle, determining a central shaft of a tail end rotating part adjacent to the puncture needle and perpendicular to the bottom surface of the tail end rotating part and the initial fixed pose information, and determining an initial plane; the initial fixed pose information comprises contact position information of a contact point of the puncture needle and a focus, a puncture needle straight line to which the puncture needle belongs and angle information of the puncture needle straight line under a base coordinate system; determining initial intersection line information of the initial plane and a horizontal plane, and determining initial rotation pose information of the tail end rotating component according to the initial intersection line information and target preset straight line information; the initial rotation pose information is determined under the tool coordinate system; and determining the target pose information of each rotating part according to the initial fixed pose information and the initial rotating pose information.
Computer storage media for embodiments of the present invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will appreciate that the present invention is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions will now 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 greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. The pose information determination method is characterized by being applied to puncture equipment, wherein the puncture equipment comprises a mechanical arm, a base and a puncture needle, one end of the mechanical arm is arranged on the base, and the other end of the mechanical arm is connected with the puncture needle; the robotic arm comprising at least two rotational components, the method comprising:
acquiring initial fixed pose information of the puncture needle, determining a central shaft of a tail end rotating part adjacent to the puncture needle and vertical to the bottom surface of the tail end rotating part and the initial fixed pose information, and determining an initial plane; the initial fixed pose information comprises contact position information of a contact point of the puncture needle and a focus, a puncture needle straight line to which the puncture needle belongs and angle information of the puncture needle straight line under a base coordinate system;
determining initial intersection line information of the initial plane and a horizontal plane, and determining initial rotation pose information of the tail end rotating component according to the initial intersection line information and target preset straight line information; the initial rotation pose information is determined in a tool coordinate system;
determining target pose information of each rotating part according to the initial fixed pose information and the initial rotating pose information;
determining a target preset straight line;
the determining of the target preset straight line comprises the following steps:
acquiring a base coordinate system established in advance based on the central point of the base, and taking a coordinate axis parallel to a horizontal plane in the base coordinate system as a preset straight line;
and determining a target preset straight line according to the current position information of the diagnosis user and the position information of the focus part of the visiting user.
2. The method according to claim 1, wherein the determining the central axis of the tip rotation member that is perpendicular to the bottom face of the tip rotation member that is adjacent to the puncture needle and the initial fixing posture information, determining an initial plane, comprises:
determining a central axis of a tail end rotating part adjacent to the puncture needle and perpendicular to the bottom surface of the tail end rotating part, and a puncture needle straight line to which the puncture needle belongs;
and determining the initial plane based on the straight line of the central shaft and the puncture needle.
3. The method according to claim 1, wherein the determining initial rotation pose information of the end rotating member from the initial intersection line information and target preset straight line information comprises:
and when the included angle between the initial intersection line information and the target preset straight line information reaches a preset angle, determining the initial rotation pose information of the tail end rotating part.
4. The method according to claim 1, wherein the determining of the target pose information of each rotating member from the initial fixed pose information and the initial rotation pose information comprises:
rotating the tip rotating member with the puncture needle straight line as a rotation axis;
when the rotation angle of the tail end rotating part reaches a preset rotation angle, determining the pose information of the current to-be-selected mechanical arm of the mechanical arm; repeatedly rotating the tail end rotating part and recording the pose information of the mechanical arm to obtain pose information of a plurality of mechanical arms to be selected; the pose information of the mechanical arm to be selected comprises pose information to be selected of each rotating component, and the tail end rotating component drives each rotating component on the mechanical arm to rotate when rotating;
and determining the pose information of the target mechanical arm from the pose information of the mechanical arms to be selected, and determining the pose information of the target of each rotating part based on the pose information of the target mechanical arm.
5. The method of claim 4, further comprising:
stopping performing the rotation of the tip rotating member when a number of rotations of the tip rotating member performed repeatedly reaches a preset number of rotations, wherein the preset number of rotations is determined based on a preset rotation angle range and the preset rotation angle.
6. The method of claim 4, wherein determining target robot arm pose information from the plurality of robot arm pose information to be selected comprises:
and determining the pose information of the target mechanical arm from the pose information of the mechanical arms to be selected based on the singular pose information and the rotation angle error of each rotating component.
7. The method of claim 6, wherein determining target robot arm pose information from a plurality of robot arm pose information to be selected based on the singular pose information and the rotation angle error of each rotating component comprises:
eliminating pose information of the mechanical arm to be selected, which comprises singular pose information, to obtain pose information of the mechanical arm to be determined;
and determining target mechanical arm pose information from the mechanical arm pose information to be determined based on the rotation angle error.
8. A pose information determination device is characterized by being configured on a puncture device, wherein the puncture device comprises a mechanical arm, a base and a puncture needle, one end of the mechanical arm is arranged on the base, and the other end of the mechanical arm is connected with the puncture needle; the robot arm comprises at least two rotating parts, the apparatus comprising:
the initial plane determining module is used for acquiring initial fixed pose information of the puncture needle, determining a central shaft which is adjacent to the tail end rotating component of the puncture needle and perpendicular to the bottom surface of the tail end rotating component and the initial fixed pose information, and determining an initial plane; the initial fixed pose information comprises contact position information of a contact point of the puncture needle and a focus, a puncture needle straight line to which the puncture needle belongs, and angle information of the puncture needle straight line in a base coordinate system;
the initial rotation pose information determining module is used for determining initial intersection line information of the initial plane and a horizontal plane and determining initial rotation pose information of the tail end rotating component according to the initial intersection line information and target preset straight line information; the initial rotation pose information is determined in a tool coordinate system;
the target pose information determining module is used for determining target pose information of each rotating component according to the initial fixed pose information and the initial rotating pose information;
the target preset straight line determining module is used for determining a target preset straight line;
the target preset straight line determining module comprises:
the preset straight line determining submodule is used for acquiring a base coordinate system established in advance based on the central point of the base, and taking a coordinate axis parallel to the horizontal plane in the base coordinate system as a preset straight line;
and the target preset straight line determining submodule is used for determining a target preset straight line according to the current position information of the diagnosis user and the position information of the focus part of the treatment user.
9. An electronic device, characterized in that the electronic device comprises:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the pose information determination method of any one of claims 1-7.
10. A storage medium containing computer-executable instructions for performing the pose information determination method of any one of claims 1-7 when executed by a computer processor.
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| CN113442145B (en) * | 2021-09-01 | 2021-11-19 | 北京柏惠维康科技有限公司 | Optimal pose determining method and device under constraint, storage medium and mechanical arm |
| CN116509449B (en) * | 2023-07-03 | 2023-12-01 | 深圳华大智造云影医疗科技有限公司 | Pose information determining method and device of mechanical arm and electronic equipment |
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